多路径效应对GPS多普勒测速的影响

程琦; 孙蕊; 王均晖

doi:10.13700/j.bh.1001-5965.2020.0311

多路径效应对GPS多普勒测速的影响

doi: 10.13700/j.bh.1001-5965.2020.0311

南京航空航天大学民航学院, 南京 211106

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
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- 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

Multipath effects on velocity measurement from GPS Doppler observations

College of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China

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

Corresponding author: SUN Rui, E-mail: rui.sun@nuaa.edu.cn

摘要

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。
- 全球定位系统(GPS) /
- 多路径效应 /
- 多普勒频移 /
- 测速 /
- 误差模型
Abstract:
Global Positioning System (GPS) Doppler observation is affected by multipath, which leads to a huge error in velocity calculation. In response to this problem, starting from the causes of Doppler observations, through kinematic analysis, a model of the relationship between the overall motion of receiver, reflection point and the satellite, and the error of Doppler observations is constructed. The results show that: the error of Doppler observations is related to the satellite observation vector, the tangent normal vector of the reflection point, the speed of the receiver and the reflection point. The effectiveness of the proposed model is verified by the results in 5 different scenarios. When receiver and reflection point are moving, multipath may cause a huge error in velocity, which makes the velocity unreliable.
- Global Positioning System (GPS) /
- multipath effects /
- Doppler frequency shift /
- velocity measurement /
- error model

HTML全文

图 1 多普勒频移示意图

Figure 1. Schematic of Doppler frequency shift

下载: 全尺寸图片幻灯片

图 2 非视距接收多普勒效应

Figure 2. NLOS received doppler effect

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图 3 部分场景实验

Figure 3. Test photos of some scenarios

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图 4 实验速度误差

Figure 4. Velocity errors of tests

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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)
实验	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

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