Overview of Data Processing for BDS/GNSS Precise Positioning

doi:10.11871/jfdc.issn.2096-742X.2022.04.003

Abstract

Abstract:

[Objective] With the finished construction of the BeiDou navigation system (BDS) in China, GNSS appears a co-existence pattern with multi-frequency and multi-mode which mainly include BDS, GPS, GLONASS, and Galileo. The data processing integrated multi-system positioning has become the trend of GNSS development in recent years and has been widely investigated. [Methods] This paper summarizes the GNSS research progress in recent 10 years, mainly on quality evaluation of BDS observations, stochastic model construction, integrated positioning methods, inter-system bias (ISB) processing, etc. [Results] The purpose of this paper is to introduce the research achievements of the GNSS fusion positioning in recent years, so the current status and the research directions in this field can be understood and referenced by the researchers.

Key words: GNSS with multi-frequency and multi-mode, integrated processing with BDS/GNSS, quality evaluation of BDS observations, inter-system bias (ISB)

CHAI Yanju,OU Jikun,YUAN Yunbin. Overview of Data Processing for BDS/GNSS Precise Positioning[J]. Frontiers of Data and Computing, 2022, 4(4): 25-33, https://cstr.cn/32002.14.jfdc.CN10-1649/TP.2022.04.003.

Figures/Tables 1

References 75

[1]	Yang Y, Li J, Xu J, Tang J, Guo H, He H. Contribution of the compass satellite navigation system to global PNT users[J]. Chinese Science Bulletin, 2011, 56(26):2813-2819. doi: 10.1007/s11434-011-4627-4
[2]	中国卫星导航系统管理办公室. 北斗卫星导航系统发展报告3.0版[EB/OL]. 2018 年 12月. http://www.beidou.gov.cn/xt/gfxz/201812/P020181227529525428336.pdf.
[3]	赵传宝. 多模GNSS非组合精密单点定位: 低成本单频模型构建与多频模型精化[D]. 北京: 中国科学院大学, 2021.
[4]	肖恭伟. 多系统 GNSS 实时精密单点定位研究及对流层延迟稀疏表示[D]. 北京: 中国科学院大学, 2021.
[5]	Yuanxi Yang, Li Liu, Jinlong Li, Yufei Yang, Tianqiao Zhang, Yue Mao, Bijiao Sun, Xia Ren. Featured services and performance of BDS-3[J]. Science Bulletin, 2021, (66): 2135-2143.
[6]	杨元喜, 许扬胤, 李金龙, 杨诚. 北斗三号系统进展及性能预测-试验验证数据分析[J]. 中国科学:地球科学, 2018, 48(5): 584-594.
[7]	Yang Y, Li J, Wang A, Xu J, He H, Guo H, Shen J, Dai X. Preliminary assessment of the navigation and positioning performance of Bei Dou regional navigation satellite system[J]. Science China Earth Sciences, 2014, 57(1): 144-152. doi: 10.1007/s11430-013-4769-0
[8]	刘金海. 多频多模 GNSS 高精度差分定位模型研究[D]. 北京: 中国科学院大学, 2020.
[9]	Yang Y, Gao W, Guo S, Mao Y, Yang Y. Introduction to Bei Dou-3 navigation satellite system[J]. NAVIGATION: Journal of The Institute of Navigation, 2019, 66(1): 7-18. doi: 10.1002/navi.291
[10]	李金龙. 北斗/GPS多频实时精密定位理论与算法[D]. 郑州: 解放军信息工程大学, 2014.
[11]	罗杰. 不同截止高度角下BDS-2/BDS-3短基线RTK 定位性能分析[J]. 地理空间信息, 2021, 19(11): 44-47.
[12]	P. J. G. Teunissen, R. Odolinski, D. Odijk. Instantaneous BeiDou+ GPS RTK positioning with high cut-off elevat-ion angles[J]. Journal of Geodesy, 2014,( 88):335-350.
[13]	吴琼宝, 赵春梅. 星载GPS/BDS数据质量评估与分析[J]. 导航定位学报, 2018, 6(1):81-84.
[14]	Odolinski R, Teunissen P J G, Odijk D. Combined GPS+ BDS for short to long baseline RTK positioning[J/OL]. Measurement Science and Technology, 2015, 26(4), http://www.scopus.com/inward/record.url?eid=2-s2.0-8492-5813580&partnerID=MN8TOARS.
[15]	赵永卿. GPS/BDS组合单点定位随机模型的研究[D]. 成都: 西南交通大学, 2017.
[16]	吴康良, 罗晨曦, 杨菂. 随机模型对BDS/GPS长基线解算精度的影响[J]. 大地测量与地球动力学, 2018, 38(4): 386-389.
[17]	刘永建, 江勇. 北斗GEO/IGSO/MEO卫星观测值精度分析及随机模型精化[J]. 全球定位系统, 2018, 43(1): 1-6.
[18]	臧楠, 李博峰, 沈云中. 3种GPS+BDS组合PPP模型比较与分析[J]. 测绘学报, 2017, 46(12): 1929-1938.
[19]	严丽. BDS/GPS融合精密定位理论与算法研究[D]. 成都: 西南交通大学, 2017.
[20]	汪亮, 李子申, 袁洪. BDS/GPS/GLONASS 组合的双频单历元相对定位性能对比分析[J]. 科学通报, 2015,(60): 857-868.
[21]	刘星, 石明旺, 游扬声, 李川, 徐荣攀. GPS/GLONASS/BDS广播星历轨道误差分析[J]. 测绘科学, 2017, 42(11):1-8.
[22]	Xiaohong Zhang, Yuxi Zhang and Feng Zhu. A method of improving ambiguity fixing rate for post-processing kinematic GNSS data[J/OL]. Satell Navig, 2020, https://doi.org/10.1186/s43020-020-00022-y.
[23]	舒宝, 刘晖, 张晋升, 潘国富, 蒋军. 基于BDS/GPS组合定位的部分模糊度固定效果分析[J]. 武汉大学学报信息科学版, 2017, 42(7): 989-994.
[24]	刘庆元, 包海, 王虎, 王潜心. GPS、GLONASS、Galileo三大系统间时间系统以及坐标系统的转换[J]. 测绘科学, 2008, 33(5): 13-15.
[25]	杨徐, 徐爱功, 秦小茜. 高度角定权模型的BDS/GPS伪距单点定位分析[J]. 导航定位学报, 2017, 5(2): 72-78,85.
[26]	曾安敏, 杨元喜, 景一帆, 明锋. BDS /GPS 融合定位中系统偏差补偿模型及其性能分析[J]. 武汉大学学报(信息科学版), 2017, 42(10): 1423-1430.
[27]	楼益栋, 龚晓鹏, 辜声峰, 郑福. GPS/BDS混合双差分RTK定位方法及结果分析[J]. 大地测量与地球动力学, 2016, 36(1): 1-5.
[28]	胡惠卿, 高成发, 潘树国, 夏炎, 王彦恒. 一种BDS/GPS 宽巷模糊度固定方法[J]. 测绘科学, 2018, 43(5):127-132.
[29]	王鹏旭, 吕志伟, 杨东森, 等. 一种新的中长基线BDS三频模糊度快速解算方法[J]. 测绘通报, 2017, (4): 25-29.
[30]	谢建涛, 郝金明, 刘伟平, 田英国, 于合理. 中长基线的BDS三频线性组合观测量优化[J]. 武汉大学学报(信息科学版), 2017, 42(2):1780-1784.
[31]	张树宏, 李金龙, 马俊峰. 北斗中长基线静态测量精度初步评估[J]. 测绘工程, 2017, 26(4): 27-31.
[32]	刘成铭. GPS/BDS组合基线解算方法研究及软件实现[D]. 合肥: 安徽理工大学, 2016.
[33]	Haibo He, Jinlong Li, Yuanxi Yang, Junyi Xu, Hairong Guo, Aibing Wang. Performance assessment of single-and dual-frequency BeiDou/GPS single-epoch kinematic positioning[J/OL]. GPS Solut, 2014, (18) :393-403.
[34]	王彬彬, 刘根友, 李正媛, 李甜. BDS/GPS单历元阻尼LAMBDA算法及其在边坡变形监测中的应用效果分析[J]. 大地测量地球动力学, 2017, 37(8):782-786.
[35]	席瑞杰. 多模GNSS桥梁变形及动力学响应监测技术研究[D]. 武汉: 武汉大学, 2018.
[36]	陈健, 岳东杰, 赵兴旺, 王静. BDS /GPS 组合单历元基线解算方法[J]. 测绘科学技术学报, 2017, 34(3): 232-239.
[37]	张小红, 李星星, 李盼. GNSS精密单点定位技术及应用进展[J]. 测绘学报, 2017, 46(10): 1399-1407.
[38]	张小红, 胡家欢, 任晓东. PPP/PPP-RTK新进展与北斗/GNSS PPP定位性能比较[J]. 测绘学报, 2020, 49(9):1084-1100.
[39]	Teunissen P, Khodabandeh A. Review and principles of PPP-RTK methods[J]. Journal of Geodesy, 2015, 89(3): 217-240. doi: 10.1007/s00190-014-0771-3
[40]	张宝成. GNSS 非差非组合精密单点定位的理论方法与应用研究[D]. 北京: 中国科学院大学, 2012.
[41]	Li Z, Chen W, Ruan R, Liu X. Evaluation of PPP-RTK based on BDS-3/BDS-2/GPS observations: a case study in Europe[J]. GPS Solutions, 2020, 24(2):1-12. doi: 10.1007/s10291-019-0913-4
[42]	Tu R, Ge M, Zhang H, Huang G. The realization and convergence analysis of combined PPP based on raw obser-vation[J]. Advances in Space Research, 2013, 52(1): 211-221. doi: 10.1016/j.asr.2013.03.005
[43]	辜声峰. 多频GNSS非差非组合精密数据处理理论及其应用[D]. 武汉: 武汉大学, 2013.
[44]	李博峰, 葛海波, 沈云中. 无电离层组合、Uofc 和非组合精密单点定位观测模型比较[J]. 测绘学报, 2015, 44(7): 734-740.
[45]	Odolinski R, Teunissen P J G, Odijk D. Combined BDS, Galileo, QZSS and GPS single-frequency RTK[J]. GPS Solutions, 2015, 19(1): 151-163. doi: 10.1007/s10291-014-0376-6
[46]	Liu T, Yuan Y, Zhang B, Wang N, Tan B, Chen Y. Multi-GNSS precise point positioning (MGPPP) using raw obs-ervations[J]. Journal of geodesy, 2017 (91):253-268
[47]	刘腾. 多模GNSS 精密定位基本理论与方法[D]. 北京: 中国科学院大学, 2017.
[48]	查九平. 非差非组合PPP-RTK区域网数据处理理论方法及应用研究[D]. 北京: 中国科学院大学, 2021.
[49]	王宁波. GNSS差分码偏差处理方法及全球广播电离层模型研究[D]. 北京: 中国科学院大学, 2016.
[50]	Xingxing Li, Maorong Ge, Jan Dousa, Jens Wickert. Real-Time Precise Positioning Regional Augmentation for Large GPS Reference Networks[J]. GPS Solut, 2014, (18):61-71.
[51]	Geng J, Teferle F, Meng X, Dodson A. Towards PPP-RTK: Ambiguity resolution in real-time precise point positioning[J]. Advances in Space Research, 2010, 47 (10): 1664-1673. doi: 10.1016/j.asr.2010.03.030
[52]	Li X, Ge M, Dai X, Ren X, Fritsche M, Wickert J, Sch-uh H. Accuracy and reliability of multi-GNSS realtime precise positioning: GPS, GLONASS, BeiDou and Galileo[J]. Journal of Geodesy, 2015, 89(6): 607-635. doi: 10.1007/s00190-015-0802-8
[53]	Zhang B. C., Hou P. Y., Zha J. P. et al. PPP-RTK fun-ctional models formulated with undifferenced and unco-mbined GNSS observations[J/OL]. Satell Navig, 2022, https://doi.org/10.1186/s43020-22-00064-4.
[54]	Li B, Zang N, Ge H, Shen Y. Single-frequency PPP models: analytical and numerical comparison[J]. Journal of Geodesy, 2019, ( 93): 2499-2514.
[55]	Sterle O, Stopar B, Preeren PP. Single-frequency precise point positioning: an analytical approach[J]. Journal of Geodesy, 2015,(89): 793-810.
[56]	Yize Zhang, Junping Chen, Sainan Yang and Qian Chen. Initial Assessment of BDS Zone Correction[C]. China Satellite Navigation Conference (CSNC) 2017 Procee-dings: Volume II, 2017: 459-474.
[57]	涂锐, 黄观文, 张勤, 王利. 利用单基准站改正信息和电离层参数估计的单频PPP算法[J]. 武汉大学学报·信息科学版, 2012, 37(2): 170-173.
[58]	Cai C, Liu Z, Luo X. Single-frequency ionosphere-free precise point positioning using combined GPS and GLONASS observations[J]. Journal of Navigation, 2013, ( 66) :417-434.
[59]	Yuan Y, Wang N, Li Z, Huo X. The BeiDou global broa-dcast ionospheric delay correction model (BDGIM) and its preliminary performance evaluation results[J]. NAV-IGATION, 2019, 66(1): 55-69.
[60]	Shi C, Gu S, Lou Y, Ge M. An improved approach to model ionospheric delays for single-frequency precise point positioning[J]. Advances in Space Research, 2012 (49) : 1698-1708.
[61]	Choy S, Silcock D. Single frequency ionosphere-free precise point positioning: a cross-correlation problem[J]. Journal of Geodetic Science, 2011,(1) :314-323.
[62]	Le AQ, Tiberius C. Single-frequency precise point positi-oning with optimal filtering[J]. GPS Solutions, 2007,(11): 61-69.
[63]	Zou X, Wang Y, Deng C, Tang W, Li Z, Cui J, Wang C, Shi C. Instantaneous BDS+GPS undifferenced NRTK positioning with dynamic atmospheric constraints[J]. GPS Solutions, 2018, 22(1): 17. https://doi.org/10.1007/s10291-017-668-8. doi: 10.1007/s10291-017-0668-8
[64]	Hong J, Tu R, Gao Y P. Characteristics of inter-system biases in Multi-GNSS with precise point positioning[J]. Advances in Space Research, 2019, 63(12): 3777-3794. doi: 10.1016/j.asr.2019.02.037
[65]	Zhou F, Dong D N, Li P. Influence of stochastic modeling for inter-system biases on multi-GNSS undifferenced and uncombined precise point positioning[J/OL]. GPS Solutions, 2019, https://doi.org/10.1007/s10291-019-0852-0.
[66]	宋美慧. BDS/GPS的ISB特性分析及融合PPP定位方法研究[D]. 北京: 中国科学院大学, 2021.
[67]	Zeng A M, Yang Y X, Ming F, et al. BDS--GPS inter-system bias of code observation and its preliminary analysis[J]. GPS Solutions, 2017, 21(2):1-9. doi: 10.1007/s10291-016-0542-0
[68]	Nadarajah N, Teunissen P J G, Sleewaegen J-M, Mon-tenbruck O. The mixed-receiver Bei Dou inter-satellite-type bias and its impact on RTK positioning[J]. GPS Solutions, 2015, 19(3): 357-368. doi: 10.1007/s10291-014-0392-6
[69]	Li X, Yuan Y, Zhu Y. Precise orbit determination for BDS3 experimental satellites using iGMAS and MGEX tracking networks[J]. Journal of Geodesy, 2019, 93(1): 103-117. doi: 10.1007/s00190-018-1144-0
[70]	Miao W, Li B, Zhang Z, Zhang X. Combined BeiDou-2 and BeiDou-3 instantaneous RTK positioning: stochastic modeling and positioning performance assessment[J]. Journal of Spatial Science, 2020, 65(1): 7-24. doi: 10.1080/14498596.2019.1642250
[71]	赵文. 北斗 2/3 联合精密单点定位关键技术研究[D]. 武汉: 武汉大学, 2020.
[72]	胡超. BDS-2/BDS-3卫星观测数据联合处理关键技术研究[D]. 徐州: 中国矿业大学, 2020.
[73]	Mi X, Zhang B, Yuan Y. Multi-GNSS inter-system biases estimability analysis and impact on RTK positioning[J]. GPS Solutions, 2019, https://doi.org/10.1007/s10291-019-0873-8.
[74]	Torre A D, Caporali A. An analysis of intersystem biases for multi-GNSS positioning[J]. GPS Solutions, 2015, 19(2): 297-307. doi: 10.1007/s10291-014-0388-2
[75]	Li X, Li X, Yuan Y, Zhang K, Zhang X, Wickert J. Multi-GNSS phase delay estimation and PPP ambiguity resolution: GPS, BDS, GLONASS, Galileo[J]. Journal of Geodesy, 2018,(92):579-608.

频段	频率(MHz)	BDS-2	BDS-3	GPS	Galileo
S	2492.028		Bs
L	1575.420		B1	L1	E1
	1561.098	B1
	1278.750				E6
	1268.520	B3	B3
	1227.600			L2
	1207.140	B2	B2b		E5b
	1191.795		B2b+a		E5
	1176.450		B2a	L5	E5a