Quality Control for Differential Kinematic GPS Positioning .pdf

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1、UCGEReportsNumber20042QualityControlforDifferentialKinematicGPSPositioning(URL:http://www.geomatics.ucalgary.ca/links/GradTheses.html)DepartmentofGeomaticsEngineeringByGangLuAugust1991Calgary,Alberta,CanadaTHEUNIVERSITYOFCALGARYQUALITYCONTROLFORDIFFERENTIALKINEMATICGPSPOSI

2、TIONINGBYGANGLUATHESISSUBMITTEDTOTHEFACULTYOFGRADUATESTUDIESINPARTIALFULFILMENTOFTHEREQUIREMENTSFORTHEDEGREEOFMASTEROFSCIENCEINENGINEERINGDEPARTMENTOFSURVEYINGENGINEERINGCALGARY,ALBERTAAUGUST,1991GANGLU1991ABSTRACTKinematicdifferentialGPSpositioningisusedtoachieveaccurate

3、,real-timepositionsandvelocitiesofamovingplatformonland,intheairandatsea.Inadynamicenvironment,however,thedeviationsorbiasesfromtheassumedsystemandobservationmodelsareoftensignificant.Thisresultsinadegradationoftheaccuracyandreliabilityoftheestimatedpositionsandvelocities.

4、Therefore,qualitycontrolmethodsareinevitablyneededinareal-timepositioningsystemtoinsurethesystemisfunctioningproperly.Inthisthesis,thestatisticalqualitycontrolmethodsforuseinkinematicGPSpositioningareinvestigated.Thegeneralrecursiveformulasforbiasinfluenceanalysisandreliab

5、ilityanalysisinKalmanfilteringarederivedandthebiasinfluencecharacteristicsandtheminimumdetectablebias(MDB)valuesofsometypicalbiasesindifferentialkinematicGPSpositioningarestudied.Areal-timestatisticaltestingandimplementationprocedureforuseinkinematicGPSpositioningisgivenba

6、sedonthestatespacetwo-stageKalmanfilteringtechnique,hypothesistestingtheoryandreliabilityanalysis.Thisprocedureisforthedetectionofcommonbiasessuchascycleslipsincarrierphasesandoutliersinphaseratesandpseudoranges,andfortheeliminationoftheirinfluencesonthekinematicGPSpositio

7、ningresults.AllthederivedformulasandalgorithmswereimplementedinasoftwarepackagecalledQUALIKINona386micro-computer.TheapplicationofthestatisticalqualitycontrolmethodsandtestingofthesoftwarewasperformedontwoGPSdatasetscollectedinlandsemi-kinematicmodeoverawell-controlledtrav

8、erse.Analysisoftheresultsindicatesthat,withadatarateofonesecondorhigher,thetestingprocedu