A Kalman Filter Method for BDS/GPS Short-term ISB Modelling and Prediction

doi:10.11947/j.AGCS.2016.F023

Abstract

Abstract:

Study of inter-system biases(ISB) is essential for the data processing of multi-constellation precise point positioning(PPP). When establishing BDS/GPS short-term ISB models, as equal-weight least square(LS) fails in taking the different weights of fitting ISB data into consideration, a method based on Kalman filter is proposed for the parameter estimation of ISB modelling, and the variance of fitting ISB data in Kalman filter is adjusted according to the distance between the data time and the forecast time. ISB models are established with ISB data over 7 days and the accuracy and applicability of ISB prediction for the 8th day is verified by static PPP experiments. The analysis result shows that the accuracy of ISB prediction generated by Kalman filter model is 29.7%, 11.5%, 43.5% and 32.0% higher than those generated by LS model at 4 stations, respectively. With the priori constraints of ISB prediction generated by Kalman filter model, the averaged RMS values of static PPP solutions are promoted by 2.7% and 0.9% higher in E and U components than those with priori constraints generated by LS model, and are promoted by 10.6%, 26.3% and 3.4% higher in E, N, U components than those without priori constraints, respectively.

Key words: multi-constellation PPP, BDS, ISB modelling, Kalman filter, fitting accuracy, prediction accuracy

CLC Number:

P228

ZHANG Hui, HAO Jinming, LIU Weiping, YU Heli, TIAN Yingguo. A Kalman Filter Method for BDS/GPS Short-term ISB Modelling and Prediction[J]. Acta Geodaetica et Cartographica Sinica, 2016, 45(S2): 31-38.

References

[1] ODOLINSKI R, TEUNISSEN P J, ODIJK D. Combined BDS, Galileo, QZSS and GPS Single-frequency RTK[J]. GPS Solutions, 2015, 19(1):151-163.
[2] GU Shengfeng, LOU Yidong, SHI Chuang, et al. BeiDou Phase Bias Estimation and Its Application in Precise Point Positioning with Triple-frequency Observable[J]. Journal of Geodesy, 2015, 89(10):979-992.
[3] 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. DOI:10.11947/j.AGCS.2015.20130771. 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. DOI:10.11947/j.AGCS.2015.20130771.
[4] 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. DOI:10.11947/j.AGCS.2015.20140082. ZHU Yongxing, FENG Laiping, JIA Xiaolin, et al. The PPP Precision Analysis Based on BDS Regional Navigation System[J]. Acta Geodaetica et Cartographica Sinica, 2015, 44(4):377-383. DOI:10.11947/j.AGCS.2015.20140082.
[5] ZUMBERGE J F, HEFLIN M B, JEFFERSON D C, et al. Precise Point Positioning for the Efficient and Robust Analysis of GPS Data from Large Networks[J]. Journal of Geophysical Research:Solid Earth, 1997, 102(B3):5005-5017.
[6] CHOY S,BISNATH S,RIZOS C. Uncovering Common Misconceptions in GNSS Precise Point Positioning and Its Future Prospect[J]. GPS Solutions, 2017, 21(1):13-22. DOI:10.1007/s10291-016-0545-x.
[7] LOU Yidong, ZHENG Fu, GU Shengfeng, et al. Multi-GNSS Precise Point Positioning with Raw Single-frequency and Dual-frequency Measurement Models[J]. GPS Solutions, 2016, 20(4):849-862.
[8] LI Haojun, XU Tianhe, LI Bofeng, et al. A New Differential Code Bias (C1-P1) Estimation Method and Its Performance Evaluation[J]. GPS Solutions, 2016, 20(3):321-329.
[9] ZHANG Baocheng, TEUNISSEN P J G. Characterization of Multi-GNSS Between-receiver Differential Code Biases Using Zero and Short Baselines[J]. Science Bulletin, 2015, 60(21):1840-1849.
[10] LIU Yinhua, LI Xiaohui, ZHANG Huijun, et al. Calculation and Accuracy Evaluation of TGD from IFB for BDS[J]. GPS Solutions, 2016, 20(3):461-471.
[11] XUE Junchen, SONG Shuli, ZHU Wenyao. Estimation of Differential Code Biases for Beidou Navigation System Using Multi-GNSS Observations:How Stable are the Differential Satellite and Receiver Code Biases?[J]. Journal of Geodesy, 2016, 90(4):309-321.
[12] WANG Ningbo, YUAN Yunbin, LI Zishen, et al. Determination of Differential Code Biases with Multi-GNSS Observations[J]. Journal of Geodesy, 2016, 90(3):209-228.
[13] MONTENBRUCK O, HAUSCHILD A, STEIGENBERGER P. Differential Code Bias Estimation Using Multi-GNSS Observations and Global Ionosphere Maps[J]. Navigation, 2014, 61(3):191-201.
[14] TORRE A D, CAPORALI A. An Analysis of Intersystem Biases for Multi-GNSS Positioning[J]. GPS Solutions, 2015, 19(2):297-307.
[15] LI Xingxing, ZHANG Xiaohong, REN Xiaodong, et al. Precise Positioning with Current Multi-constellation Global Navigation Satellite Systems:GPS, GLONASS, Galileo and BeiDou[J]. Scientific Reports, 2015(5):8328.
[16] MONTENBRUCK O, HAUSCHILD A, HESSELS U. Characterization of GPS/GIOVE Sensor Stations in the CONGO Network[J]. GPS Solutions, 2011, 15(3):193-205.
[17] TEGEDOR J, φVSTEDAL O, VIGEN E. Precise Orbit Determination and Point Positioning Using GPS, GLONASS, Galileo and BeiDou[J]. Journal of Geodetic Science, 2014, 4(1):65-73.
[18] PAZIEWSKI J, WIELGOSZ P. Accounting for Galileo-GPS Inter-system Biases in Precise Satellite Positioning[J]. Journal of Geodesy, 2015, 89(1):81-93.
[19] ODIJK D, NADARAJAH N, ZAMINPARDAZ S, et al. GPS, Galileo, QZSS and IRNSS Differential ISBs:Estimation and Application[J]. GPS Solutions, 2016. DOI:10.1007/s10291-016-0536-y.
[20] JIANG Nan, XU Yan, XU Tianhe, et al. GPS/BDS Short-term ISB Modelling and Prediction[J]. GPS Solutions, 2017, 21(1):163-175.
[21] LI Xingxing, GE Maorong, DAI Xiaolei, et al. Accuracy and Reliability of Multi-GNSS Real-time Precise Positioning:GPS, GLONASS, BeiDou, and Galileo[J]. Journal of Geodesy, 2015, 89(6):607-635.
[22] YANG Yuanxi, HE Haibo, XU Guochang. Adaptively Robust Filtering for Kinematic Geodetic Positioning[J]. Journal of Geodesy, 2001, 75(2-3):109-116.
[23] YANG Yuanxi, GAO Weiguang. An Optimal Adaptive Kalman Filter[J]. Journal of Geodesy, 2006, 80(4):177-183.