数据缺失情况下BDS定位性能分析BDS positioning performance analysis under missing data
高天杭,崔先强,王勋
摘要(Abstract)：
针对观测数据的缺失会影响数据处理效果、降低定位精度的问题,该文为了探明缺失数据是如何影响定位,进行静态定位实验分析3类卫星对定位误差的影响,进行动态定位实验测试了在缺失数据的真实情况下北斗卫星系统的定位性能。静态实验结果表明,在伪距单点定位中缺失GEO卫星时三维点位精度下降了85%,在缺失IGSO时定位精度下降了43.8%,缺失MEO卫星时定位精度下降了6%,在载波相位定位中缺失3类卫星数据对定位精度虽然也有影响,但不如伪距定位的影响大。在动态实验中发现在无遮挡的环境中,BDS定位精度不受影响,且定位精度较高,可与GPS相媲美;在遮挡的环境中,GPS和BDS都出现了信号质量下降的情况,BDS数据缺失比GPS严重,缺失严重时定位出现较大的误差,结果不可靠。
关键词(KeyWords)： 数据缺失;性能分析;北斗卫星系统;地球静止轨道卫星;动态定位
基金项目(Foundation): 国家自然科学基金项目（41674012）
作者(Author): 高天杭,崔先强,王勋
DOI: 10.16251/j.cnki.1009-2307.2019.12.015
参考文献(References)：
- [1]惠沈盈．观测数据不完全的动态定位算法研究[D]．长沙：中南大学，2011.(HUI Shenying.Incomplete observations of the dynamic location algorithm[D].Changsha:Central South University,2011.)
- [2]占伟，黄立人，刘志广，等．数据缺失对GNSS时间序列分析的影响[J]．大地测量与地球动力学，2013,33(2):49-53.(ZHAN Wei,HUANG Liren,LIU Zhiguang,et al.Effect of data defect on analyzing GNSS time series[J].Journal of Geodesy and Geodynamics,2013,33(2):49-53.)
- [3]武森，冯小东，单志广．基于不完备数据聚类的缺失数据填补方法[J]．计算机学报，2012,35(8):1726-1738.(WU Sen,FENG Xiaodong,SHAN Zhiguang.Missing data imputation approach based on incomplete data clustering[J].Chinese Journal of Computers,2012,35(8):1726-1738.)
- [4]李正欣，张凤鸣，王瑛，等．多元时间序列缺失数据填补方法[J]．系统工程与电子技术，2018(1):225-230.(LI Zhengxin,ZHANG Fengming,WANG Ying,et al.Method of missing data imputation for multivariate time series[J].Systems Engineering and Electronics,2018(1):225-230.)
- [5] ISAKSSON A J.Identification of ARX-models subject to missing data[J].IEEE Transactions on Automatic Control,2002,38(5):813-819.
- [6] WALLIN R,ISAKSSON A J,LJUNG L.An iterative method for identification of ARX models from incomplete data[C]∥In Proceedings of 39th IEEE Conference on Control and Decision.CDC2000.Sydney,Australia:2000:203-208.
- [7] GIBSON S,NINNESS B.Robust maximum-likelihood estimation of multivariable dynamic systems[J].Automatica,2005,41(10):1667-1682.
- [8] YANG Y,XU T.An Adaptive Kalman filter based on sage windowing weights and variance components[J].Journal of Navigation,2003,56(2):231-240.
- [9] YANG Yuanxi,WEI guang.A new learning statistic for adaptive filter based on predicted residuals[J].Progress in Natural Science:Materials International,2006,16(8):833-837.
- [10]杨元喜，任夏，许艳．自适应抗差滤波理论及应用的主要进展[J]．导航定位学报，2013,1(1):9-15.(YANG Yuanxi,REN Xia,XU Yan.Main progress of adaptively robust filter with applications in navigation[J].Journal of Navigation and Positioning,2013,1(1):9-15.)
- [11]王耀南，李树涛．多传感器信息融合及其应用综述[J]．控制与决策，2001,16(5):518-522.(WANG Yaonan,LI Shutao.Multisensor information fusion and its application:a survey[J].Control and Decision,2001,16(5):518-522.)
- [12]张宏亭，李学仁，孔韬．BP神经网络在缺失数据估计中的应用[J]．计算机工程与设计，2007,28(14):3457-3459.(ZHANG Hongting,LI Xueren,KONG Tao.Application of BP nural network in predicting abset data[J].Computer Engineering and Design,2007,28(14):3457-3459.)
- [13]高宗余，李德胜．神经网络在MEMS-IMU/GPS组合导航中的应用研究[J]．传感技术学报，2009,22(9):1356-1360.(GAO Zongyu,LI Desheng.Study on application of N、E、Ural network in MEMS-INS/GPS combination[J].Chinsese Jornal of Sensors and Actuators,2009,22(9):1356-1360.)
- [14]杨元喜，李金龙，王爱兵，等．北斗区域卫星导航系统基本导航定位性能初步评估[J]．中国科学（地球科学），2014,44(1):72-81.(YANG Yuanxi,LI Jinlong,WANG Aibing,et al.Preliminary assessment of the navigation and positioning performance of BeiDou regional navigation satellite system[J].Science China(Earth Sciences),2014,44(1):72-81.)
- [15]杨元喜，李金龙，徐君毅，等．中国北斗卫星系统对全球PNT用户的贡献[J]．科学通报，2011,56(21):1734-1740.(YANG Yuanxi,LI Jinlong,XU Junyi,et al.Contribution of the compass satellite navigation system to global PNT users[J].Chinese Sci Bull,2011,56(21):1734-1740)
- [16]张小红，左翔，李盼，等．BDS/GPS精密单点定位收敛时间与定位精度的比较[J]．测绘学报，2015,44(3):250-256.(ZHANG Xiaohong,ZUO Xiang,LI Pan,et al.Convergence time and positioning accuracy comparison between BDS and GPS precise point positioning[J].Acta Geodaetica et Cartographica Sinica,2015,44(3):250-256.)
- [17]朱永兴，冯来平，贾小林，等．北斗区域导航系统的PPP精度分析[J]．测绘学报，2015,44(4):377-383.(ZHU Yongxing,FENG Laiping,JIA Xialin,et al.The PPP percision analysis based on bds redional navigation system[J].Acta Geodaetica et Cartographica Sinica,2015,44(4):377-383.)
- [18]王博，焦海松，谷庆，等．北斗接收机动态定位精度测试与分析[J]．导航定位学报，2014,2(2):109-112.(WANG Bo,JIAO Haisong,GU Qing,et al.Dynamic accuracy testing and analysis for BeiDou receiver[J].Journal of Navigation and Positioning,2014,2(2):109-112.)
- [19]景一帆，杨元喜，曾安敏，等．北斗区域卫星导航系统定位性能的纬度效应[J]．武汉大学学报（信息科学版），2017,42(9):1243-1248.(JING Yifan,YANG Yuanxi,ZENG Anmin,et al.Latitude effect in positioning performance by using BeiDou regional satellite navigation system[J].Geomatics and Information Science of Wuhan University,2017,42(9):1243-1248.)