留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

多路径效应对GPS多普勒测速的影响

程琦 孙蕊 王均晖

程琦, 孙蕊, 王均晖等 . 多路径效应对GPS多普勒测速的影响[J]. 北京航空航天大学学报, 2021, 47(9): 1807-1813. doi: 10.13700/j.bh.1001-5965.2020.0311
引用本文: 程琦, 孙蕊, 王均晖等 . 多路径效应对GPS多普勒测速的影响[J]. 北京航空航天大学学报, 2021, 47(9): 1807-1813. doi: 10.13700/j.bh.1001-5965.2020.0311
CHENG Qi, SUN Rui, WANG Junhuiet al. Multipath effects on velocity measurement from GPS Doppler observations[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(9): 1807-1813. doi: 10.13700/j.bh.1001-5965.2020.0311(in Chinese)
Citation: CHENG Qi, SUN Rui, WANG Junhuiet al. Multipath effects on velocity measurement from GPS Doppler observations[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(9): 1807-1813. doi: 10.13700/j.bh.1001-5965.2020.0311(in Chinese)

多路径效应对GPS多普勒测速的影响

doi: 10.13700/j.bh.1001-5965.2020.0311
基金项目: 

国家自然科学基金 41704022

国家自然科学基金 41974033

江苏省自然科学基金 BK20170780

南京航空航天大学研究生创新基地(实验室)开放基金 KFJJ20190727

详细信息
    通讯作者:

    孙蕊, E-mail: rui.sun@nuaa.edu.cn

  • 中图分类号: P228;V249.3

Multipath effects on velocity measurement from GPS Doppler observations

Funds: 

National Natural Science Foundation of China 41704022

National Natural Science Foundation of China 41974033

Natural Science Foundation of Jiangsu Province BK20170780

the Fundamental Research Funds for the Central Universities KFJJ20190727

More Information
  • 摘要:

    针对全球定位系统(GPS)多普勒观测值在城市环境中受多路径效应影响,从而导致测速误差大的问题,从多普勒频移产生的原理入手,通过运动学理论分析,构建了接收机、反射点与卫星整体运动与多普勒频移误差关系模型。模型分析结果表明:多普勒频移误差与卫星观测向量、反射点切线法向量、接收机运动速度及反射点运动速度有关。最后通过5种不同场景的GPS数据验证了所提模型的正确性。在多路径情况下,当接收机或反射点运动时,可能会导致巨大的测速误差,使得结果不具备可靠性。

     

  • 图 1  多普勒频移示意图

    Figure 1.  Schematic of Doppler frequency shift

    图 2  非视距接收多普勒效应

    Figure 2.  NLOS received doppler effect

    图 3  部分场景实验

    Figure 3.  Test photos of some scenarios

    图 4  实验速度误差

    Figure 4.  Velocity errors of tests

    表  1  不同场景实验情况

    Table  1.   Tests under different scenarios

    实验 载体运动状态 载体周围环境 接收机类型 有效历元数
    实验1 静态 开阔地带(A地区校园) NovAtel 36 180
    实验2 静态 城市峡谷(A地区天井) NovAtel 390
    实验3 静态 城市峡谷(B地区街道) NovAtel 38 798
    实验4 动态 开阔地带(空中无人机) Trimble 12 371
    实验5 动态 城市峡谷(C地区街道) NovAtel 3 712
    下载: 导出CSV

    表  2  不同实验的RMSE

    Table  2.   RMSE under different tests

    实验 RMSE/(m·s-1)
    东向 北向 天向 总向
    实验1 0.014 0.017 0.031 0.038
    实验2 0.021 0.040 0.088 0.099
    实验3 0.888 0.667 2.811 3.023
    实验4 0.071 0.058 0.221 0.239
    实验5 0.547 0.259 1.407 1.532
    下载: 导出CSV
  • [1] GU C L. Urbanization: Positive and negative effects[J]. Science Bulletin, 2019, 64(5): 281-283. doi: 10.1016/j.scib.2019.01.023
    [2] 顾朝林, 曹根榕. 基于城镇化发展趋势的中国交通网战略布局[J]. 地理科学, 2019, 39(6): 865-873. https://www.cnki.com.cn/Article/CJFDTOTAL-DLKX201906001.htm

    GU C L, CAO G R. Strategic layout of China's future transportation network based on urbanization trends[J]. Scientia Geographica Sinica, 2019, 39(6): 865-873(in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-DLKX201906001.htm
    [3] 肖云, 孙中苗, 程广义. 利用GPS多普勒观测值精确确定运动载体的速度[J]. 武汉测绘科技大学学报, 2000, 25(2): 113-118. https://www.cnki.com.cn/Article/CJFDTOTAL-WHCH200002004.htm

    XIAO Y, SUN Z M, CHENG G Y. Precise determination of velocity for airborne gravimetry using the GPS Doppler observations[J]. Journal of Wuhan Technical University of Surveying and Mapping, 2000, 25(2): 113-118(in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-WHCH200002004.htm
    [4] 何海波, 杨元喜, 孙中苗. 几种GPS测速方法的比较分析[J]. 测绘学报, 2002, 31(3): 32-36. https://www.cnki.com.cn/Article/CJFDTOTAL-CHXB200203007.htm

    HE H B, YANG Y X, SUN Z M. A comparison of several approaches for velocity determination with GPS[J]. Acta Geodaeyica et Cartographica Sinica, 2002, 31(3): 32-36(in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-CHXB200203007.htm
    [5] SUN R, HSU L T, XUE D, et al. GPS signal reception classification using adaptive neuro-fuzzy inference system[J]. The Journal of Navigation, 2019, 72(3): 685-701. doi: 10.1017/S0373463318000899
    [6] SUN W, DUAN S, KONG Y, et al. Velocity and acceleration of Doppler calculation for carrier based on GPS broadcast ephemeris[J]. Chinese Journal of Sensors and Actuators, 2017, 30(11): 1630-1635.
    [7] 张明, 王宏涛, 王强. 利用GPS多普勒观测值精确确定运动载体的速度[J]. 电光与控制, 2006, 13(3): 97-101. doi: 10.3969/j.issn.1671-637X.2006.03.027

    ZHANG M, WANG H T, WANG Q. Accurate determination of moving vehicle speed with GPS Doppler observed values[J]. Electronics Optics & Control, 2006, 13(3): 97-101(in Chinese). doi: 10.3969/j.issn.1671-637X.2006.03.027
    [8] GRAAS F V, SOLOVIEV A. Precise velocity estimation using a stand-alone GPS receiver[J]. Navigation, 2004, 51(4): 283-292. doi: 10.1002/j.2161-4296.2004.tb00359.x
    [9] WANG Q X, XU T H. Combining GPS carrier phase and Doppler observations for precise velocity determination[J]. Science China Physics, Mechanics and Astronomy, 2011, 54(6): 1022-1028. doi: 10.1007/s11433-011-4331-z
    [10] 王甫红, 张小红, 黄劲松. GPS单点测速的误差分析及精度评估[J]. 武汉大学学报(信息科学版), 2007, 32(6): 515-519.

    WANG F H, ZHANG X H, HUANG J S. Error analysis and accuracy assessment of GPS absolute velocity determination with SA off[J]. Geomatics and Information Science of Wuhan University, 2007, 32(6): 515-519(in Chinese).
    [11] 何海波, 杨元喜, 孙中苗, 等. GPS多普勒频移测量速度模型与误差分析[J]. 测绘学院学报, 2003, 20(2): 79-82. doi: 10.3969/j.issn.1673-6338.2003.02.001

    HE H B, YANG Y X, SUN Z M, et al. Mathematic model and error analyses for velocity determination using GPS Doppler measurements[J]. Journal of Institute of Surveying and Mapping, 2003, 20(2): 79-82(in Chinese). doi: 10.3969/j.issn.1673-6338.2003.02.001
    [12] 李乐乐, 贺凯飞, 王振杰, 等. GPS实时单站测速和相对测速的误差比较与精度分析[J]. 大地测量与地球动力学, 2019, 39(10): 1063-1069. https://www.cnki.com.cn/Article/CJFDTOTAL-DKXB201910015.htm

    LI L L, HE K F, WANG Z J, et al. Error comparison and accuracy analysis between stand-alone and relative velocity determination using GPS[J]. Journal of Geodesy and Geodynamic, 2019, 39(10): 1063-1069(in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-DKXB201910015.htm
    [13] 孙伟, 段顺利, 丁伟, 等. GPS单点测速方法的比较分析[J]. 导航定位学报, 2017, 5(1): 81-85. https://www.cnki.com.cn/Article/CJFDTOTAL-CHWZ201701017.htm

    SUN W, DUAN S L, DING W, et al. Comparative analysis on velocity determination by GPS single point[J]. Journal of Navigation and Position, 2017, 5(1): 81-85(in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-CHWZ201701017.htm
    [14] 单瑞, 赵铁虎, 于得水, 等. 单点GPS多普勒测速模型比较与精度分析[J]. 测绘通报, 2013(3): 7-9. https://www.cnki.com.cn/Article/CJFDTOTAL-CHTB201303002.htm

    SHAN R, ZHAO T H, YU D S, et al. Model comparison and accuracy analysis of single-stationed GPS velocity estimation using GPS Doppler measurements[J]. Bulletin of Surveying and Mapping, 2013(3): 7-9(in Chinese). https://www.cnki.com.cn/Article/CJFDTOTAL-CHTB201303002.htm
    [15] TRAJKOVSKI K K, STERLE O, STOPAR B. Robust statistics, Doppler observations and multipath effect in GNSS in adverse conditions[J]. Geodetski Vestnik, 2016, 60(1): 42-52. doi: 10.15292/geodetski-vestnik.2016.01.42-52
    [16] SOBOLEV V S, UTKIN E N, KASHCHEEVA G A, et al. Doppler shift of the modulation frequency of laser radiation scattered by a moving object[J]. Optics and Spectroscopy, 2019, 119(2): 291-294. doi: 10.1134/s0030400x15080214
    [17] 谢钢. GPS原理与接收机设计[M]. 北京: 电子工业出版社, 2009: 74-75.

    XIE G. Principles of GPS and receiver design[M]. Beijing: Publishing House of Electronics Industry, 2009: 74-75(in Chinese).
    [18] XU L, RIFE J H. Doppler-aided line-of-sight identification and localization in future cellular networks[C]//Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+2018). Hoboken: Wiley, 2018: 3018-3027.
    [19] XU L, RIFE J. NLOS and multipath detection using Doppler shift measurements[C]//Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+2019). Hoboken: Wiley, 2019: 4064-4075.
    [20] XU L, RIFE J. Modeling multipath effects on frequency locked loops[C]//Proceedings of the 2020 International Technical Meeting of the Institute of Navigation. Hoboken: Wiley, 2020: 698-712.
  • 加载中
图(4) / 表(2)
计量
  • 文章访问数:  467
  • HTML全文浏览量:  71
  • PDF下载量:  106
  • 被引次数: 0
出版历程
  • 收稿日期:  2020-07-03
  • 录用日期:  2020-08-14
  • 网络出版日期:  2021-09-20

目录

    /

    返回文章
    返回
    常见问答