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| Title: | 在嚴重遮蔽環境下估計差分系統偏差的BDS-3/GPS/Galileo/BDS-2/GLONASS/QZSS即時動態定位及初步分析
BDS-3/GPS/Galileo/BDS-2/GLONASS/QZSS real-time kinematic positioning with the estimation of differential inter-system biases and initial assessment under severely-constrained observational environments |
| Authors: | 胡家維
Hu, Jia-Wei |
| Contributors: | 儲豐宥
Chu, Feng-Yu
胡家維
Hu, Jia-Wei |
| Keywords: | 差分系統間偏差(differential inter-system biases, DISBs)
北斗三號(BDS-3)
即時動態定位(real-time kinematic, RTK)
Differential inter-system biases
BDS-3
Real-time kinematic |
| Date: | 2023 |
| Issue Date: | 2023-09-01 15:16:52 (UTC+8) |
| Abstract: | 即時動態(real time kinematic, RTK)定位可提供公分級的定位成果且已廣泛地應用於導航工程上。可用衛星數量對RTK來說相當重要，然而在遮蔽的觀測環境下可用衛星數量會因遮蔽效應而降低。星系間重疊頻率的差分系統間偏差(differential inter-system biases, DISBs)具有在時間上的穩定性，所以我們可以藉由率定星系間重疊頻率所構成的DISBs來增加RTK模型的多餘觀測數並降低遮蔽效應的影響，其數學模型稱作DISB-fixed模型。
目前，台灣上空可追蹤到六星系，包含GPS、Galileo、北斗二號(BDS-2)、GLONASS、QZSS以及最新的北斗三號(BDS-3)。一方面，當結合使用這六星系時，我們將可獲得大量可用衛星數量；另一方面，BDS-3比BDS-2額外多了兩個新頻率，B1C、B2a，其可分別與GPS的L1、L5和Galileo的E1、E5a以及QZSS的L1、L5頻率重疊。因此結合此六星系的DISB-fixed模型將可以有效地幫助RTK定位於嚴重遮蔽的觀測環境，例如都會區以及森林區。雖然我們可預期結合此六星的DISB-fixed模型可以挑戰嚴重遮蔽觀測環境，但是結合此六星系的DISB-fixed模型的優勢以及其可能會面臨到的問題尚未被目前文章所討論。
有鑑於此，本研究建立出一個能夠處理六星系多頻的DISB-fixed模型，並評估此模型針對其DISBs估計所需之收斂時間，以及分析在嚴重遮蔽的觀測條件(例如：截仰角>55°)下的RTK效能並討論潛在的問題。成果指出，在理想觀測條件下，電碼與相位DISBs的變化可在10分鐘內可分別收斂低於0.3公尺與0.02週期內。另外，在嚴重遮蔽的觀測條件下，本研究發現結合六星系後雖然依然可獲得相當高的求解性，但是由於嚴重遮蔽的觀測條件造成之不良的衛星幾何，使得單頻情況的週波值求解(ambiguity resolution, AR)效能明顯地劣於使用雙頻情況。這說明了在嚴重遮蔽環境下，除了衛星數目之外，使用多頻率的觀測量也是重要考量項目之一。
Real-time kinematic (RTK) positioning provides centimeter-level positioning accuracy and is widely used in navigation engineering. The number of available satellites is crucial for RTK, but it decreases in obstructed observation environments due to shadowing effects. Differential inter-system biases (DISBs), which are stable over time, can be used to increase the number of redundancy in the RTK model and reduce the impact of shadowing effects. This mathematical model is known as the DISB-fixed model. Currently, six satellite constellations can be tracked in Taiwan, including GPS, Galileo, BeiDou Navigation Satellite System (BDS-2), GLONASS, QZSS, and the latest BeiDou-3 (BDS-3). On one hand, combining these six constellations allows for a large number of available satellites. On the other hand, BDS-3 has two additional frequencies, B1C and B2a, which overlap with GPS`s L1 and L5, Galileo`s E1 and E5a, and QZSS`s L1 and L5 frequencies, respectively. Therefore, the DISB-fixed model combining these six constellations can effectively assist RTK positioning in severely obstructed observation environments such as urban and forest areas. Although we can anticipate that the DISB-fixed model with these six constellations can address severe shadowing conditions, the advantages of combining these constellations and the potential challenges it may face have not been discussed in previous studies. In this research, we establish a DISB-fixed model capable of handling multi-frequency observations from the six constellations and evaluate the convergence time required for DISBs estimation in this model. We also analyze the RTK performance under severely-obstructed conditions (e.g., elevation angles greater than 55°) and discuss potential issues. The results indicate that under ideal observation conditions, the variations in code and phase DISBs converge within 0.3 meters and 0.02 cycles, respectively, within 10 minutes. Furthermore, under severely-obstructed conditions, although the SP remains relatively high when combining the six constellations, the poor satellite geometry results in significantly poorer ambiguity resolution (AR) performance compared to single-frequency cases. This demonstrates that, in addition to the number of satellites, the use of multi-frequency observations is also an important consideration in severely-obstructed environments. |
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| Description: | 碩士
國立政治大學
地政學系
110257031 |
| Source URI: | http://thesis.lib.nccu.edu.tw/record/#G0110257031 |
| Data Type: | thesis |
| Appears in Collections: | [地政學系] 學位論文
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