THE UNIVERSITY OF CALGARY HIGH ACCURACY AIRBORNE D

1DepartmentofGeomaticsEngineeringHighAccuracyAirborneDifferentialGPSPositioningUsingaMulti-ReceiverConfigurationbyJingShiApril1994()UCGEREPORTSNumber20061GeomaticsEngineeringiTHEUNIVERSITYOFCALGARYHIGHACCURACYAIRBORNEDIFFERENTIALGPSPOSITIONINGUSINGAMULTI-RECEIVERCONFIGURATIONbyJINGSHIATHESISSUBMITTEDTOTHEFACULTYOFGRADUATESTUDIESINPARTIALFULFILLMENTOFTHEREQUIREMENTSFORTHEDEGREEOFMASTEROFSCIENCEDEPARTMENTOFGEOMATICSENGINEERINGCALGARY,ALBERTAAPRIL,1994©JingShi1994iiTHEUNIVERSITYOFCALGARYFACULTYOFGRADUATESTUDIESTheundersignedcertifythattheyhaveread,andrecommendtotheFacultyofGraduateStudiesforacceptance,athesisentitledHighAccuracyAirborneDifferentialGPSPositioningUsingaMulti-receiverConfigurationsubmittedbyJingShiinpartialfulfillmentoftherequirementsforthedegreeofMasterofScience.Supervisor,Dr.M.E.CannonDepartmentofGeomaticsEngineeringDr.M.A.ChapmanDepartmentofGeomaticsEngineeringDr.G.LachapelleDepartmentofGeomaticsEngineeringDr.R.E.LoovDepartmentofCivilEngineeringDate:April25,1994iiiABSTRACTPreciseairborneDGPSpositioningusingamulti-receiverconfigurationisinvestigatedwiththeemphasisonthecentimetrelevelaccuracyoverlargeoperationalareas.Thecriticalerrorsfromtheatmosphere,orbit,SelectiveAvailabilityandmultipatharereviewedandanalyzed.Theeffectsoftheseerrorsonthepositioningsolutionsareidentifiedandassessedformonitor-remoteseparationsrangingfrom50to200km.TheoreticalanalysisintwofrequentlyusedkinematicGPSalgorithmsispresentedandmethodsforaccuracyevaluationarestudied.TodemonstratetheachievableaccuracyofairborneDGPSpositioningoveralargearea,resultsfromflighttestswithamulti-receiverconfigurationareextensivelyinvestigated.Underthepresentsatelliteconstellation,theaccuracyofairborneDGPSpositioningwithmonitor-remoteseparationsof50-200kmisatthelevelof10cmifhighqualityreceiversareusedandtheeffectsduetoallcriticalerrorsaretakenintoaccount.ivACKNOWLEDGMENTSIwishtoexpressmyappreciationtomysupervisor,ProfessorM.ElizabethCannonforheradvice,supportandencouragementthroughoutthecourseofmygraduatestudies.ProfessorCannonisalsoacknowledgedforprovidingtheSEMIKIN™software.Thanksgotomanystudentsinourresearchgroupforbeneficialdiscussionsrelatedtothisthesis.Specifically,IwouldliketothankMr.GangLuandMr.DingshengChengforsharingtheirresearchexperiencesinGPS.Mr.KeithVanDierendonckisthankedforhisassistanceindatacollectionaswellasforprovidingfieldinformationontheflighttest.Mr.DouglasRobertsisacknowledgedforprovidingpreciseephemerisdata.Mr.HazenGehue,Mr.RobertsandMr.VanDierendonckareallgratefullyacknowledgedforproofreadingthethesismanuscript.FinancialsupportformygraduatestudiescamefromaNaturalScienceandEngineeringResearchCouncilStrategicGrantandTheUniversityofCalgarythroughaGraduateResearchAssistantship.AnNSERC/CRDgrantwithCanagravResearchprovidedfundsfortheacquisitionofthetestdata.Theircontributionsaregreatlyacknowledged.Finally,specialthanksgotomywife,Xiaoping,forhersupportandunderstanding.vTABLEOFCONTENTSPageABSTRACT.................................................................................................................iiiACKNOWLEDGMENTS..........................................................................................ivTABLEOFCONTENTS............................................................................................vLISTOFTABLES........................................................................................................viiiLISTOFFIGURES......................................................................................................xNOTATION................................................................................................................xivCHAPTER1INTRODUCTION................................................................................................11.1BackgroundandObjectives..............................................................11.2ThesisOutline.....................................................................................42ERRORSOURCESANDCORRECTIONS.......................................................62.1GPSObservablesandErrors.............................................................62.2TroposphericErrorandCorrection.................................................102.3IonosphericErrorandCorrection...................................................122.4OrbitalErrorandPreciseOrbit........................................................152.4.1BroadcastEphemerisErrorandSelectiveAvailability.............................................................162.4.2PreciseEphemeridesandApplications..............................19vi2.5Multipath.............................................................................................223ALGORITHMSANDANALYSIS......................................................................243.1KinematicGPSAlgorithms...............................................................253.2AnalyticalEstimationofOrbitalErrorEffectonEstimatedPositions................................................................