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2018 Vol. 43, No. 5

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Research on the Model of BDS-3 Triple-Frequency Carrier-Phase Combination Observations

FU Wei, DONG Xurong, WANG Min, SHUA IWeiyi, WANG Jun

2018, 43(5): 1-8. doi: 10.13442/j.gnss.1008-9268.2018.05.001

[Abstract](1303) [PDF 945KB](270)

Abstract:
The BDS-3 satellite navigation system has entered the global coverage stage this year, and it is expected that the service area of the BDS-3 will cover the “the Belt and Road” countries and neighboring countries by the end of 2018. At present, the BDS-3 has released four ICD (Interface Control Document) for the signal B1I, B1C, B2a, and B3I. The optimal linear coefficients with minimal noise are induced with the analytical method considering the wavelength and ionoshperic scale factor of combinations. It is shown that the optimal extrawide lane (EWL) combination of the BDS3 are the linear combination (1,-1,0) of the signals (B1C,B1I,B2a) and (B1C,B1I,B3I), and the optimal wide-lane (WL) combination is the linear combination (1,-3,2) composed with the signals (B1I,B3I,B2a) and (B1C,B3I,B2a), these three combinations are also the best combination among all the BDS-3, BDS-2 and GPS linear combinations. Using the measured data of BDS-3 to select the WL／EWL combinations for double-difference ambiguity resolution under the long and short baseline, not only the conclusion of the combinations of WL and EWL is verified, it is also concluded that the WL combinations (1,-3,2) and EWL combinations (1,-4,3) and (0,1,-1) of triplefrequency signals (B1I,B3I,B2a) and (B1C,B3I,B2a) are applicable to both long and short baseline conditions, and the better WL／EWL combinations of triple-frequency signals (B1C,B1I,B2a) and (B1C,B1I,B3I) are only applicable to the short baseline conditions.

An Indoor Geomagnetic Positioning System Based on Smartphone

JIANG Congshi, LIU Jiaxing

2018, 43(5): 9-16. doi: 10.13442/j.gnss.1008-9268.2018.05.002

[Abstract](672) [PDF 1086KB](181)

Abstract:
After studied smartphone’s sensors and indoor magnetic field, an indoor localization system based on Client／Server architecture is designed. With the three axis fluxgate geomagnetic sensor, we can collect geomagnetic signals and establish fingerprint in two different ways: coordinate transformation of the three axis geomagnetic data with the assist of the data of gyroscope; combination of geomagnetic data and azimuth information. Then, generate the grid map as the indoor positioning reference map, and design geomagnetic matching algorithm based on euclidean distance. Finally, the application is deployed on the Android platform and experiments are conducted, then compare accuracy and matching speed in different location fingerprint. The experimental results show that the system can achieve a positioning accuracy of 1m.

Differential Code Bias Estimation and Accuracy Analysis Based on Dual-Frequency GPS Observations

XU Dandan, ZHAO Xingwang, XU Yue, DENG Yongchun

2018, 43(5): 17-22. doi: 10.13442/j.gnss.1008-9268.2018.05.003

[Abstract](461) [PDF 645KB](116)

Abstract:
The code bias in the receiver instrument deviation is an important factor affecting the accuracy of the total electron content in the ionosphere. If the effect of the code bias of the instrument on the ionosphere is ignored, the 9～30 TECU deviation can be brought to the solution of the electron content, so the exact solution of the machine code deviation is crucial. This paper uses 6-day GPS dual-frequency observation data and joints spherical harmonic model to estimate the differential code bias in the receiver on the basis of least squares. The results are compared and analyzed with the solution given by the CODE analysis center ionosphere product,at the same time,this paper also evaluats the accuracy of receiver differential code bias estimation. The results show that the results obtained by the estimation method in the paper are basically consistent with the results given by the ionosphere products in the CODE analysis center, and the estimated accuracy is quite high, therefore, this method has certain validity for the extraction of differential code bias.

Analysis of the Influence of Different Parameters on BeiDou Long Baseline Based on GAMIT

LI Jiantao, ZHU Lanyan, LI Yongmei, JIN Xing, LIU Qi, MAN Yazhou

2018, 43(5): 23-28. doi: 10.13442/j.gnss.1008-9268.2018.05.004

[Abstract](517) [PDF 574KB](112)

Abstract:
Aiming at less use of GAMIT software to analyze the BeiDou baseline, firstly we use the GAMIT software to calculate the BeiDou long baseline, then select the cutoff height angle, the zenith troposphere delay parameter, the three control parameters of the measuring station constraint value to test the effect of the BeiDou long baseline solution. The results show that the GAMIT (10.61) can successfully solve the BeiDou long baseline and the relative precision is 10^-8 magnitude; the selection of the cutoff height has a great influence on the resolution accuracy, and the setting of the number of the delay parameters of the zenith troposphere has little influence on the solution, but the resolution accuracy also improves with the increasing of the number. It is very important to choose the appropriate constraint value to set the different constraint values of the station to influence the baseline accuracy.

Track Points Prediction Based on Ellipsoid

ZHANG Qingqing, WANG Jian, LIU Ruihua

2018, 43(5): 29-33. doi: 10.13442/j.gnss.1008-9268.2018.05.005

[Abstract](321) [PDF 529KB](58)

Abstract:
Accurate and effective track points prediction not only can ensure the safety and stable transition of airspace, make use of resources in a sensible manner to improve operational efficiency, but also can be used to the availability of RAIM prediction during flight for the sake of flight safety. The WGS-84 coordinate system recommended by the international civil aviation organization (ICAO) is the world standard for airborne navigation systems. The WGS-84-based T.Vincenty embedded coefficient method is analyzed to calculate the coordinates of the track points and the time of the crossing point of the cruise phase by means of T.Vincenty method. The simulation validates the accuracy of the land subject matter back and forth calculation and verifies the reliability of the track points prediction through the actual flight data.

Study on Orthogonal Multiplexing Technology Based on Frequency-Division and Phase-Division

2018, 43(5): 34-37. doi: 10.13442/j.gnss.1008-9268.2018.05.006

[Abstract](309) [PDF 454KB](125)

Abstract:
With the development of navigation system, the frequency band for navigation is becoming more and more crowded, which accounts for the interference among different navigation systems and navigation satellites becoming severer and severer. In this paper, binary subcarrier is introduced. By designing the frequency and phase of the subcarrier, the satellite signals become almost orthotropic, for which the crosscorrelation interference can be mitigated affectively.

CORS Double-Difference Ionospheric Delay Interpolation Model Accuracy Analysis Over Long Distances

XU Miaoqiang, YU Xuexiang, YUAN Dao, YUAN Xiaoxin, YANG Liangliang, CHU Min

2018, 43(5): 38-42. doi: 10.13442/j.gnss.1008-9268.2018.05.007

[Abstract](349) [PDF 496KB](109)

Abstract:
In order to verify whether the traditional interpolating model can meet the requirement of double-difference ionospheric delay accuracy of the continuously operating reference station CORS system at a long distance. By constructing an ionospheric double-difference observation equation, linear interpolation model (LIM) and distance-dependent linear interpolation model (DIM) are taken as the research object, and virtual reference station technology (VRS) is represented as the representative monitoring station. The differential ionospheric delay is compared with the double-difference ionospheric delay of the monitoring station obtained by LIM and DIM interpolation algorithm. The two models are analyzed under the longdistance CORS network. The double difference ionosphere delay interpolation effect. The experimental results show that the interpolation accuracy of the LIM model is higher than that of the DIM model under the condition of the remote CORS network monitoring station.

Deduction of Ionospheric Delay and its Features

ZHOU Xiaohui, HUANG Jinsong, XU Xiaohua, GUO Fei

2018, 43(5): 43-47. doi: 10.13442／j.gnss. 1008-9268.2018.05.008

[Abstract](768) [PDF 400KB](213)

Abstract:
Ionospheric delay is one of the most important error sources on GNSS positioning and navigation precision. However, it has long been a focus issue on how to understand the difference of ioniospheric delay on the pseudorange derived from code and carrier phase and their corresponding features. This paper deduces the ionopheric delay of code range and carrier phase range from the phase velocity and group velocity, finally obtains their features

Remote Sensing Analysis of Surface Coverage of Typical Urban Areas around Dianchi Lake

HU Lin, GAN Shu, FEI Lianjun, YU Hui, PENG Rui, FENG Yu, WU Yang

2018, 43(5): 48-52. doi: 10.13442/j.gnss.1008-9268.2018.05.009

[Abstract](309) [PDF 606KB](115)

Abstract:
As the largest plateau lake in Yunnan province, Dianchi Lake plays an important role in water environment protection and pollution control. For surface coverage change of typical towns around Dianchi Lake, there are some things which have great significant for providing data support for timely optimization control scheme, such as remote sensing detection technology, quick understanding of pollution sources, and realtime monitoring of Dianchi Lake pollution. Selecting an typical town Jinning as research area, which is around Dianchi Lake, and based on Landsat8 to remote sensing image of surface coverage classification information extraction, use confusion matrix compared with maximum likelihood method and visual interpretation for classification accuracy. From this article, we can know that Landsat8 image can be quick and efficient extraction of urban surface cover classification information through visual interpretation. Landsat8 also can ve applied to Kunming and Chenggong, both of them are in Dianchi Lake watershed. This article prouioles technical support of management of Dianchi Lake watershed protection of macroscopic dynamic monitoring,amd also provides decisionmaking information for planning and management evelopment of the town in Dianchi Lake watershed.

Time Delay Estimation Algorithm Based on SCOT Double Weighted Second Correlation

ZHANG Yu, YAN Tianfeng

2018, 43(5): 53-57. doi: 10.13442/j.gnss.1008-9268.2018.05.010

[Abstract](395) [PDF 440KB](125)

Abstract:
On the basis of studying the second correlation method in time delay estimation, in order to further improve the availability of the second correlation method under lower signaltonoise ratio conditions, combined with the generalized weight function in generalized crosscorrelation, the two cross-correlations in the second correlation method are weighted with SCOT separately. The experimental simulation results show that compared with the second correlation method and the generalized second correlation method, the time-delay estimation algorithm based on SCOT double weighted second correlation still has a high accuracy of time delay estimation when the SNR is low.

Analysis of Atmospheric Pressure Changes During ENSO Using GNSS Occultation Data

GAO Kun, LI Yingbing, LIU Haizhu

2018, 43(5): 58-60. doi: 10.13442/j.gnss.1008-9268.2018.05.011

[Abstract](231) [PDF 433KB](93)

Abstract:
The El Nio-Southern Oscillation event (ENSO) causes anomalous global climate and also causes abnormal changes in the global barometric pressure. The traditional atmospheric pressure detection technology has the problems of high cost, lack of data in the marine area and uneven distribution. In order to solve the above problems, this paper proposes to study the changes of atmospheric pressure during the ENSO by using the global atmospheric pressure retrieved from the GNSS occultation data. In this paper, GNSS occultation data from 2006 to 2008 are used to calculate the change of atmospheric pressure at 2 km by geometric optical inversion. The global atmospheric pressure difference among El Nio (december 2006), La Nia (december 2007) and the normal year (december 2008) is taken as the difference and the change of atmospheric pressure is analyzed. The experimental results show that using the GNSS occultation data to draw a map of atmospheric pressure changes at a certain height on the global scale, the atmospheric pressure changes during the ENSO can be visually demonstrated, providing a convenient reference for relevant climate change research.

Design and Application of PM_2.5 Space Detection System Based on GNSS

ZHANG Jianhui, YANG Guolin, SHAO Ming, AN Xuwei, ZHANG Bo

2018, 43(5): 61-66. doi: 10.13442/j.gnss.1008-9268.2018.05.012

[Abstract](282) [PDF 616KB](95)

Abstract:
To solve the difficulty of PM_2.5 concentration space detection and low flexibility of traditional detection equipment, a PM_2.5space detection system based on GNSS is proposed. The system includes main control, PM_2.5sensor, GNSS positioning module, power supply module, data recording module and 4G network module. In the working process, the position and PM_2.5concentration are matched to obtain the concentration data of PM_2.5carrying with position information, while the data can be saved and sent. The system has the advantages of small size, light weight, good flexibility and convenient use, which has broad application prospects.

An Improved RTK Positioning Time-consuming Method based on Optimizing Matrix Operation

GAO Ke, LI Hui, LAI Chuan

2018, 43(5): 67-69. doi: 10.13442/j.gnss.1008-9268.2018.05.013

[Abstract](349) [PDF 333KB](111)

Abstract:
The positioning time-consuming of the differential global navigation satellite system (DGNSS) real time kinematic (RTK) technology almost depends on the Kalman filter implementation. There is a mass of matrix operation in Kalman filter implementation, so matrix operation optimization is an effective mean to reduce time-consuming of RTK. The method in this paper improves the matrix operation of Kalman state variable update and it’s covariance update based on the special Kalman state transfer matrix in RTK positioning algorithm. The results of motion platforms test show that the improved RTK positioning timeconsuming is about 7 times less than before.

Application of Sliding Generalized Extended Approximation Method in BeiDou Satellite Precise Ephemeris Interpolation

LI Zhenchang, LI Zhongqin, KOU Ruixiong

2018, 43(5): 70-76. doi: 10.13442/j.gnss.1008-9268.2018.05.014

[Abstract](352) [PDF 573KB](125)

Abstract:
The principle of sliding generalized extended approximation method is introduced. Based on this algorithm,the relationship among different combinations of the number of nodes in unit domains, the number of approximation functions,the number of nodes in extension domain and the interpolation accuracy of three different BeiDou satellites is respectively discussed. The actual example shows that the three parameters of the three kinds of BeiDou satellites to achieve the best interpolation accuracy are different;as long as the appropriate three parameters are selected,the interpolation accuracy of the three different BeiDou satellites can reach a very high accuracy.This method is completely applicable to BeiDou satellites precise ephemeris interpolation.

High Precision GPS／BDS Data Processing and Precision Contrast Analysis Based on GAMIT10.61

LIU Xingwei, PU Dexiang, GAO Xiang, ZHANG Shiyong, XIA Dinghui

2018, 43(5): 77-83. doi: 10.13442/j.gnss.1008-9268.2018.05.015

[Abstract](888) [PDF 648KB](215)

Abstract:
The paper deals with the GPS data and BDS data of eight station CORS in Chongqing using GAMIT10.61 software, and mainly from the baseline repeatability, coordinate time series, combined adjustment in three aspects analyzed the calculation results of GPS and BDS.Results show that GPS results is better than BDS, and the difference between the single BDS and single GPS solution in the horizontal direction is less than 0.7cm, and 1cm～3 cm in the vertical; the BDS baseline repeatability is 1.39mm+0.205mm×10^-8 in the north-south direction, 3.10mm+0.252×10^-8in the east-west direction, 7.81mm+2.001×10^-8in the vertical direction, 2.13mm+0.384×10^-8 in the baseline length, calculation precision can meet the high precision data processing requirements using GAMIT 10.61.

The Design and Simulation of Wireless Location System Based on PN Code Ranging Technology

WANG Xilin, ZHOU Yalin, ZHANG Jia

2018, 43(5): 84-90. doi: 10.13442/j.gnss.1008-9268.2018.05.016

[Abstract](345) [PDF 904KB](155)

Abstract:
This paper mainly studies the basic principle of PN code ranging technology and the implementation of a single point static wireless positioning method based on PN code ranging technology for the targets in space. The core modules include carrier separation and demodulation, PN code acquisition and PN code tracking, etc. MATLAB is used to simulate the system scheme to verify the rationality of the scheme, and Verilog language is used in Modelsim software to simulate the generation of pseudo-random sequence, carrier modulation, carrier separation and demodulation, and PN code synchronization. Based on the design idea of software radio, the scheme of the wireless positioning system hardware platform based on PN code ranging technology is designed in the 2.4 GHz frequency band.This paper adopts theoretical research, simulation and actual testing to research and realize the PN code ranging technology, collects and records test data, analyzes the actual test data, and provides data reference for subsequent program improvement.

Performance Analysis of Multimode SPP Solving for BDS／GPS／GALILEO at Different Cut-Off Height Angles

YU Xiaona, WANG Chao, ZUO Xiaoqing, BU Jinwei, CHANG Jun

2018, 43(5): 91-97. doi: 10.13442/j.gnss.1008-9268.2018.05.017

[Abstract](388) [PDF 733KB](110)

Abstract:
This paper selects the observation data of February 1st, 2016, which is part of the MGEX tracking station, in the case of cut-off elevation angles of 5°, 15°, 25°, 30°, 40°, and 45°, respectively,This paper analyzes the positioning performance of single point positioning (SPP) of six combined modes of BDS(C), GPS(G), GPS+BDS(GC), BDS+GALILEO(CE), GPS+GALILEO(GE),and GPS+BDS+GALILEO(GCE). Research indicates: the stability of GPS+BDS+GALILEO(GCE) is the best. At the same height, the number of satellites is the highest, the rate of epoch availability is highest, which is 96％, compared with other combination modes, the positioning accuracy increased by 20％~40％. It has good application value in denselypacked areas, mountains, forests, and areas with severe shelter.

The Tracking and Localization of Moving Objects by the Difference Hash Algorithm of Adaptive Image Enhancement

WU Ziyue, YANG Shuai, WANG Dongce, SUN Pengfei

2018, 43(5): 98-104. doi: 10.13442/j.gnss.1008-9268.2018.05.018

[Abstract](311) [PDF 754KB](125)

Abstract:
Tracking and positioning of moving targets has become a research hotspot in the current frontier technology. It is still difficult to track and locate small moving targets in the big environment of Beidou satellite positioning system. In this paper, with the help of UAV camera equipment, tracking algorithm is used to track moving targets. The positioning of UAV obtains the corresponding coordinate information to achieve the precise positioning of the target.In order to better achieve the effect of target tracking, this paper adopts the method of adaptive image enhancement to improve the image quality. By using the Laplace transform's difference hash algorithm, the effect of moving target tracking can be improved and the tracking speed can be improved obviously.

Research on Indoor Location System Based on MIMU／WiFi Fingerprint Combination

LUO Yufeng, LIU Yanhui, LIU Yanling

2018, 43(5): 105-111. doi: 10.13442/j.gnss.10089268.2018.05.019

[Abstract](340) [PDF 736KB](133)

Abstract:
MIMU is an autonomous positioning method, which is not disturbed by external environmental factors. This fixed location method has a high precision in short time location and the location method is suitable for measuring high speed objects. But the disadvantage is that the location error can accumulate with long time. The system of WiFi fingerprint indoor positioning technology, is suitable for indoor low speed moving objects positioning and single point positioning precision high, the system is not high realtime and depends on the location of the base station distribution. The advantages and disadvantages of the two positioning systems are analyzed. A centralized Calman filtering closed loop correction method is proposed to combine the two positioning systems into a combined positioning system, which can achieve complementary advantages. The simulation is carried out in MATLAB, and the MIMU／WiFi fingerprint combination indoor positioning system can be verified to further improve the precision of the indoor positioning system.

Design of Autonomous Cruise Quadruped Robot and Remote Monitoring System Based on GNSS

WU Ziyue, SONG Yanliang, WU Zhifeng, LIU Shanmin

2018, 43(5): 112-117. doi: 10.13442/j.gnss.1008-9268.2018.05.020

[Abstract](347) [PDF 669KB](88)

Abstract:
Aiming at the problem of difficulty and high cost in complex region detection, a quadruped crawling robot and remote monitoring system with autonomous cruising function based on GNSS are designed. Then robot uses the embedded STM32F429IGT6 chip as the main control CPU, and carries the GPS／BeiDou positioning module and wireless communication module. So that the robot can realize autonomous cruise and automatic adjustment of the route. The robot is equipped with a variety of sensor modules to achieve the collection of environmental temperature, humidity, wind speed and other parameters. At the same time, the collected data are analyzed, processed and transmitted. The monitoring system based on this function can realize the real-time monitoring of the robot, including the motion track and position information, and send control instructions to the robot through wireless network, which has the function of remote control. The experimental results show that the autonomous cruise robot and its monitoring system can achieve accurate positioning and realtime route adjustment, and improve the accuracy of robot detection.

Design of Monitoring System of Offshore Current Energy Device Based on Beidou System

WANG Shiming, YANG Hao, TIAN Ka, YANG Zhiqian

2018, 43(5): 118-122. doi: 10.13442/j.gnss.1008-9268.2018.05.021

[Abstract](225) [PDF 529KB](64)

Abstract:
Aiming at the problem of offshore data monitoring of a new type of bidirectional direct-drive wave power generation device, we design a monitoring system based on STM32 microcontroller, Beidou communication module GYM2003B, data acquisition module and multiple expansion interfaces. The command server receives the data upload server storage and monitors them on the PC side in real time. The monitoring system can run smoothly on the sea for 30 days. From the offshore test data, it can be seen that the monitoring system completes the realtime monitoring of the operation status of the power generation equipment, and the system operates reliably, the data transmission is accurate, and the data packet reception rate reaches 99.01％.

Quality Checking of GPS Observation Data Using TEQC Combined with RTKLIB Software

GONG Zhenchun, ZHAO Longhai, LIN Chengshou, LIU Cunmin, CHEN Zhanyong

2018, 43(5): 123-128. doi: 10.13442/j.gnss.1008-9268.2018.05.022

[Abstract](861) [PDF 724KB](235)

Abstract:
This paper elaborated the GPS observation data quality checking method, principle and main evaluation index, and introduced the TEQC and RTKLIB software in the data quality analysis function. By GPS data quality analysis and contrast to each other, We found that : 1) TEQC runs in DOS environment, with poor man-machine interaction, and RTKLIB software runs in Windows system, which is convenient to operate.2) the main evaluation index results of the data quality of the two are completely consistent;3) the RTKLIB software can display the satellite visibility, sky map and DOP value graphically, but no ionospheric delay error, ionospheric delay rate of change or satellite azimuth map; 4) combined TEQC with RTKLIB software can help to comprehensively and intuitively analyze the observation data quality, With a good analysis effect.

Analysis of International Standards for Shipborne Satellite Navigation Receiving Equipment

CHEN Qian, DU Hui

2018, 43(5): 129-134. doi: 10.13442/j.gnss.1008-9268.2018.05.023

[Abstract](284) [PDF 628KB](84)

Abstract:
Currently, the worldwide shipborne satellite navigation receiving equipment generally applies the IEC 61108 series standards issued by TC 80 of International Electrotechnical Commission (IEC). The issued IEC 61108 series standards include standards for performance requirements and test methods of receiving equipment of GPS, GLONASS, GALILEO, DGPS and DGLONASS. Considering the independence of receiving equipment of DGPS and DGLONASS and its less correlation with other standards, the article does not make any comparison among them. The article mainly analyzes the prevailing series standards of IEC 61108-1～3 by introducing the differences and existing problems, including inaccurate description and not applicable to current technology development. and puts forward the proposals.