高可靠性的GNSS载波精密定位全概率整数解的关键算法研究

The defects of the existing data processing method of GNSS carrier precision positioning are as follows: the integer solutions vector can’t be obtained during the period of initialization, it is needed to validate that an integer vector is equal to the ambiguity, there are too many validation standards and they are deficient in theory, and there is the possibility of error with the integer solution vector. The primary cause of the above problems is that the condition that the true value of ambiguity is an integer is be mistakenly understood as that the most optimal solution of ambiguity is an integer. In the project, the common practice that the ambiguity estimation is scoped as an integer with the probability of false is broken through, and a lot of integer vectors are used in probabilities, based on the concept of total probability, to calculate out the total probability integer solution. The main contents researched in the project include the method to ascertain the integer vectors based on the reliability probability given, the method to calculate the probability that any integer vectors is the ambiguity vector, the method to calculate the total probability integer solutions by the integer vectors and express their stochastic behaviors, the data processing procedures and algorithms of the total probability integer solutions of two working modes, and the software implementation and a lot of experiments to test the theoretical results of the project. There are a few advantages of the research results of the project to be expected, which are that no ambiguity validation is needed, the total probability integer solution can be obtained within several epochs, and the reliability of the total probability integer solution is very high.

现有GNSS载波精密定位数据处理方法存在如下不足：实现整数解所需的初始化时间较长；模糊度整周确认的标准不统一，理论依据不充分；实现的整数解有纳伪风险。上述问题的根源是把“模糊度真值是整数”的物理条件狭义映射成了“模糊度最优解为整数”的数学条件。针对上述问题，本项目将突破冒纳伪风险将模糊度确定为一组整数的常规做法，基于全概率理念，利用多个整数向量依概率共同参与解算，进而得到各未知数的全概率整数解。项目主要研究内容为：基于给定可靠性概率的多个整数向量最佳选取；各整数向量为模糊度向量概率的精确计算；基于多个整数向量的全概率整数解计算及其随机特性准确表达；动态和静态两种作业模式的全概率整数解数据处理流程及算法；全概率整数解算法的软件实现及实测验证。通过本项目的研究，将克服现有方法的不足，实现不需模糊度整周确认、获得全概率整数解仅需数个历元、定位结果可靠性高的GNSS载波精密定位快速精确解算。

现有GNSS载波精密定位数据处理方法存在如下不足：实现整数解所需的初始化时间较长，模糊度整周确认的标准不统一，理论依据不充分。上述问题的根源是把“模糊度真值是整数”的物理条件狭义映射成了“模糊度最优解为整数”的数学条件。针对上述问题，本项目突破了“将模糊度确定为一个整数”的常规做法，认为每一个与模糊度同维的整数向量是模糊度真值依概率成立，给定一个高可靠性概率情况下可得到多个整数向量，利用这些整数向量共同得到定位的全概率整数解。.基于上述研究思路，项目给出了基于给定可靠性概率的多个整数向量最佳选取方法，该方法具有免搜索、计算效率高等优点；给出了任一同维整数向量为模糊度向量真值的后验概率精确计算方法，并给出了该方法计算误差的上限计算公式，可实现对解算结果的准确评价；基于多个整数向量及其后验概率分别得到了模糊度和定位的全概率整数解及方差矩阵的计算公式，证明了常规的整数解是全概率整数解的特例，给出了利用全概率整数解判断模糊度整数特性存在性的方法。项目对全概率整数解数据处理流程和算法进行了软件实现，并利用工程数据对研究成果进行了检验。工程数据验证表明：（1）全概率整数解实现不需模糊度整周确认，免去了确认标准不确切的困扰；（2）获得全概率整数解仅需数个历元，可快速实现GNSS高精度定位；（3）根据给定可靠性概率值计算定位结果，确保定位结果的高可靠性。.研究成果可使得GNSS极速实现载波高精度定位，充分发挥了GNSS载波定位的优势。特别是在城镇卫星信号受到遮挡的动态定位中，利用本项目算法所得的定位结果相对已有方法在性能上有显著提升。项目成果可用于自动驾驶、军事侦查等领域的卫星导航算法中。研究成果对推动卫星精密导航定位的应用扩展具有重要的意义。

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