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Real-time kinematic surveying using tightly-coupled GPS and ultra-wideband ranging.

机译：使用紧密耦合的GPS和超宽带测距进行实时运动学测量。

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摘要

Ultra-wideband (UWB) ranging radios, an emerging technology that offers precise, short distance, range measurements are investigated as a method to augment carrier-phase GPS positioning. This thesis begins with a discussion of radio-frequency based methods of augmenting high precision GPS and proposes to utilize UWB ranging technology in a tightly-coupled GPS and UWB position estimation filter. This thesis then provides an overview of UWB in the context of ranging applications and assesses the precision and accuracy of UWB ranging from both a theoretical perspective and a practical perspective using real data. Two types of commercially available UWB ranging radios are introduced which are used in testing. Actual ranging accuracy is assessed from line-of-sight testing in benign signal conditions and in outdoor testing with line-of-sight obstructions and strong reflection sources. A tightly-coupled GPS and UWB real-time kinematic (RTK) estimation method is developed and the performance of the system is evaluated in static and kinematic testing. The results of static testing show that the integrated solution provides better accuracy, better ability to resolve integer ambiguities and enhanced fixed ambiguity solution availability compared with GPS alone. The results of kinematic testing demonstrate that UWB errors can be successfully estimated in a real-time filter. In static and kinematic testing in a degraded GPS environment created by artificially inducing a 40° satellite elevation mask, subdecimetre accuracy was maintained. The tightly-coupled system is also tested to survey several external corner points of an eight story building. The tightly-coupled solution is compared to GPS-only, UWB-only, and loosely-coupled solutions. Sub-metre level solutions are maintained using tight-coupling in conditions where the solutions from the other three approaches are either unavailable or unreliable. The thesis also provides a novel and efficient method for deploying UWB reference stations and performing the RTK survey. Tightly-coupled GPS+UWB for RTK surveying is a promising new technology that extends RTK surveying to new environments. In addition, in marginal GPS-only surveying environments, position accuracy and RTK solution availability are improved substantially.
机译：超宽带（UWB）测距无线电是一种新兴技术，可提供精确的短距离范围内的距离测量，作为增强载波相位GPS定位的一种方法。本文首先讨论基于射频的高精度GPS增强方法，并提出在紧密耦合的GPS和UWB位置估计滤波器中使用UWB测距技术。然后，本文对测距应用中的UWB进行了概述，并使用实际数据从理论角度和实践角度评估了UWB的精度和准确性。介绍了两种用于测试的商用UWB测距无线电。实际测距精度是根据在良性信号条件下的视线测试以及在有视线障碍物和强反射源的室外测试中进行评估的。开发了紧密耦合的GPS和UWB实时运动（RTK）估计方法，并在静态和运动测试中评估了系统的性能。静态测试结果表明，与单独的GPS相比，该集成解决方案提供了更高的准确性，更好的解决整数模糊度的能力，并提高了固定歧义度解决方案的可用性。运动学测试的结果表明，可以在实时滤波器中成功估计UWB错误。在通过人工诱导40°卫星仰角掩模而产生的退化GPS环境中进行的静态和运动学测试中，保持了10米以下的精度。还对紧密耦合系统进行了测试，以调查八层建筑的几个外部角点。将紧密耦合的解决方案与仅GPS，仅UWB和宽松耦合的解决方案进行了比较。在其他三种方法的解决方案不可用或不可靠的情况下，使用紧密耦合来维护亚米级解决方案。本文还为部署UWB参考站和进行RTK调查提供了一种新颖而有效的方法。用于RTK测量的紧密耦合GPS + UWB是一种有前途的新技术，它将RTK测量扩展到新环境。此外，在仅GPS的边缘测量环境中，位置精度和RTK解决方案的可用性得到了显着提高。

著录项

  • 作者

    MacGougan, Glenn D.;

  • 作者单位

    University of Calgary (Canada).;

  • 授予单位 University of Calgary (Canada).;
  • 学科 Geotechnology.;Remote Sensing.;Engineering Civil.
  • 学位 Ph.D.
  • 年度 2009
  • 页码 220 p.
  • 总页数 220
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

  • 入库时间 2022-08-17 11:38:19

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