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首页> 外文会议>International technical meeting of the Satellite Division of the Institute of Navigation >Time Differencing and Filtering Technique for Mitigating Errors in GPS Carrier Phase and Pseudorange Observations
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Time Differencing and Filtering Technique for Mitigating Errors in GPS Carrier Phase and Pseudorange Observations

机译：缓解GPS载波相位误差和伪距观测值的时差和滤波技术

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Motivated by the need to improve precise point positioning,this paper unveils a new technique for mitigating thelevel of error in GPS carrier phase and code pseudorangeobservations. The technique which involves timedifferencing, filtering and smoothing (DFS) of generatedfilterable observables of all observed satellites at anyepoch, aims at mitigating the observation error composedof the errors generated by multipath, inaccurate satelliteorbital position, receiver clock drifts, unmodelled errorsand model inaccuracies. To improve performance underchallenging conditions, the processing algorithm of thetechnique also provides robustness to short duration observationgaps that often result in cycle slips occurences.The algorithm also generates smoothed time series rangeresiduals suitable for resolving carrier phase ambiguities,with or without observation gaps or observation discontinuities(temporary loss of an observed satellite).The inherent observation error in carrier phase observationoften hinders ambiguity resolution or resolution tothe correct value. Moreover, existing code pseudorangecarrier-smoothing techniques, such as the Hatch filter, donot only absorb the error on the carrier phase observationused to smooth the pseudorage, but also becomehampered and degrades in performance in the presenceof cycle slip and observation gap occurence. As often thecase, real-time positioning relies on the broadcast satelliteephemerides which usually degrades in accuracy withtime. Furthermore, receiver clock error originating fromsignificant oscillator drifts, which are not always eliminatedprior to positioning, tend to reflect as error in thepositioning solution. Hence, to improve precise point positioningand enhance positioning for high accuracy andprecision demanding applications, the error levels on carrierphase and pseudorange observations, as well as errorsdue to inaccurate satellite ephemeris and receiver clockerror among others, have to be mitigated if not eliminated.Upon implementing the DFS technique aimed at mitigatingthe observation error levels in all carrier phase andpseudorange observations, the obtained initial test resultsfrom static mode dual-frequency positioning indicatethat the DFS is capable of achieving its aim, and enhanceautonomous receiver code positioning accuracy and precision.On comparison of these initial results, the DFSsmoothed pseudorange positioning solution showed 53%improvement over the raw (unsmoothed) pseudorangepositioning solutions; and on average, achieved up to 9%improvement over the Hatch filtered pseudorange positioningsolutions. More significantly, the DFS achievedconsiderable improvement over the Hatch filter techniquein the vertical position component.
机译：出于改进精确点定位的需要， 本白皮书揭示了一种新技术，可以减轻 GPS载波相位和代码伪距中的错误级别 观察。涉及时间的技术 生成的差分，过滤和平滑（DFS） 在任何位置观察到的所有卫星的可过滤观测值 时代，旨在减轻观测误差 多径，不准确的卫星所产生的误差 轨道位置，接收器时钟漂移，未建模的误差 和模型错误。在提高性能下 挑战性的条件下， 该技术还为短期观察提供了鲁棒性 通常会导致循环打滑的间隙。 该算法还生成平滑的时间序列范围 适用于解决载波相位模糊度的残差， 有无观察间隙或观察不连续性 （观测到的卫星暂时丢失）。 载波相位观测中的固有观测误差 通常会妨碍歧义解决或解决 正确的值。而且，现有代码伪距 诸如Hatch滤波器之类的载波平滑技术 不仅吸收了载波相位观测上的误差 用来使伪冒变得平顺，但也变得 存在时会妨碍性能并降低性能 滑差和观察间隙的发生。像往常一样 情况下，实时定位取决于广播卫星 星历通常会降低精度 时间。此外，接收器时钟错误源于 明显的振荡器漂移，并不总是可以消除的 在定位之前，往往会反映为 定位解决方案。因此，要提高精确的点定位 并提高定位精度 精度要求苛刻的应用，载体上的误差水平 相位和伪距观测以及误差 由于卫星星历和接收器时钟不正确 尤其是错误，如果不能消除，就必须减轻。 在实施旨在缓解风险的DFS技术时 所有载波相位的观测误差水平和 伪距观测，获得初步测试结果 从静态模式双频定位指示 DFS有能力实现其目标，并增强 自主接收器代码的定位精度和精度。 比较这些初步结果后，DFS 平滑的伪距定位解决方案显示53％ 原始（不平滑）伪距的改进 定位解决方案;平均达到9％ Hatch滤波伪距定位的改进 解决方案。更重要的是，DFS实现了 相对于Hatch过滤器技术有很大改进 在垂直位置组件中。

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