Characteristics of BeiDou Navigation Satellite System Multipath and Its Mitigation Method Based on Kalman Filter and Rauch-Tung-Striebel Smoother.
Characteristics of BeiDou Navigation Satellite System Multipath and Its Mitigation Method Based on Kalman Filter and Rauch-Tung-Striebel Smoother.
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北斗卫星导航系统多路径特性及基于卡尔曼滤波器和Rauch-Tung-Striebel平滑器的缓解方法
DOI：
10.3390/s18010198
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发表时间：
2018-01-12
期刊：
影响因子：
--
通讯作者：
Liu X
中科院分区：
文献类型：
--
作者：
Zhang Q;Yang W;Zhang S;Liu X
全球导航卫星系统（GNSS）短基线载波相位测量满足大型结构物变形监测的要求。然而，载波相位多径效应是双差分处理的主要误差源。全球定位系统（GPS）载波相位数据多径误差的处理方法有很多。由于北斗卫星导航系统独特的星座设计使得其对多径效应的抑制与GPS不同，因此北斗卫星导航系统的多径抑制仍然是一个研究热点。由于多径误差与卫星的几何形状、反射面和天线有很强的相关性，因此多径误差周期性重复。分析了北斗卫星轨道周期与相应卫星多径重复周期相一致的特点。结果表明：BDS地球静止轨道（GEO）和倾斜地球同步轨道（IGSO）卫星的轨道周期和多径周期约为1天，而MEO卫星的周期约为7天。采用卡尔曼滤波（KF）和Rauch-Tung-Striebel平滑（RTSS），利用传统的恒星滤波（SF）从单差（SD）残差中提取多径模型。小波滤波和经验模态分解（EMD）也被用于减轻多径效应。实验结果表明，三种滤波方法对基线精度的提高都有明显的效果，其中KT-RTSS方法的性能略好于小波滤波和EMD滤波。KF-RTSS方法在东、北、上（E、N、U）分量上的基线向量精度较280年和281年分别提高了62.8%、63.6%、62.5%和57.3%、53.4%、55.9%。
Global Navigation Satellite System (GNSS) carrier phase measurement for short baseline meets the requirements of deformation monitoring of large structures. However, the carrier phase multipath effect is the main error source with double difference (DD) processing. There are lots of methods to deal with the multipath errors of Global Position System (GPS) carrier phase data. The BeiDou navigation satellite System (BDS) multipath mitigation is still a research hotspot because the unique constellation design of BDS makes it different to mitigate multipath effects compared to GPS. Multipath error periodically repeats for its strong correlation to geometry of satellites, reflective surface and antenna which is also repetitive. We analyzed the characteristics of orbital periods of BDS satellites which are consistent with multipath repeat periods of corresponding satellites. The results show that the orbital periods and multipath periods for BDS geostationary earth orbit (GEO) and inclined geosynchronous orbit (IGSO) satellites are about one day but the periods of MEO satellites are about seven days. The Kalman filter (KF) and Rauch-Tung-Striebel Smoother (RTSS) was introduced to extract the multipath models from single difference (SD) residuals with traditional sidereal filter (SF). Wavelet filter and Empirical mode decomposition (EMD) were also used to mitigate multipath effects. The experimental results show that the three filters methods all have obvious effect on improvement of baseline accuracy and the performance of KT-RTSS method is slightly better than that of wavelet filter and EMD filter. The baseline vector accuracy on east, north and up (E, N, U) components with KF-RTSS method were improved by 62.8%, 63.6%, 62.5% on day of year 280 and 57.3%, 53.4%, 55.9% on day of year 281, respectively.
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