Abstract
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.
Highlights
The application of Global Navigation Satellite System (GNSS) technology in deformation monitoring has become an important way to monitor the structural health of buildings for its advantages in automation, all-weather, real time and large scale, etc. [1]
To obtain a more accurate multipath model, a multipath model extraction method based on Kalman filter and Rauch-Tung-Striebel Smoother (RTSS) was proposed and the multipath repetition characteristics of BeiDou navigation satellite System (BDS) satellites were explained by qualitative analysis and quantitative calculation in the paper
Two cases should be considered in ambiguity estimation: first, multipath errors are so small that they cannot change the estimation of integer ambiguity—but could affect the result of the baseline vector by changing phase observations; second, multipath errors bring out a carrier phase measurement error of a few centimeters and both the ambiguity estimation and baseline vector are changed
Summary
The application of Global Navigation Satellite System (GNSS) technology in deformation monitoring has become an important way to monitor the structural health of buildings for its advantages in automation, all-weather, real time and large scale, etc. [1]. The SF based on coordinate domain using daily repetition of multipath can extract the multipath model from the coordinate sequence of the first day to correct that of the day at a fixed station This method uses the average satellite orbital period and ignores the differences between satellites, so it cannot be effectively applied in BDS multipath mitigation with its three different types of orbital satellites. To obtain a more accurate multipath model, a multipath model extraction method based on Kalman filter and Rauch-Tung-Striebel Smoother (RTSS) was proposed and the multipath repetition characteristics of BDS satellites were explained by qualitative analysis and quantitative calculation in the paper. Orbital periods and multipath periods of BDS satellites through a set of measured data, applied three filtering methods in extracting multipath models and found they all achieve good results in multipath mitigation.
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