论文总字数：35225字
摘 要
随着基于移动智能终端的线上打车、代驾和共享单车的发展兴起，大众对室外位置服务的定位精度提出越来越高的要求。由于智能手机广泛采用的是低成本的卫星信号接收机，其芯片组仅为用户提供三维位置数据，无法对定位结果加以改正，因此其提供的定位、导航服务的精度普遍较低，这极大限制了GNSS在智能手机中的应用。随着科学技术的进步，用户需要智能手机提供更高精度的定位、导航服务，从而满足人们日常生活中的位置服务需求。2016年5月，Google宣布Android N（即版本7.0）以上的Android系统将提供GNSS的原始观测数据。因此，本文以Java为开发语言，研制了面向Android系统的GNSS定位APP，以提高智能手机的定位精度。本文的研究内容和结论如下：
（1）介绍了智能手机获取GNSS原始观测数据的方法，智能手机下载IGU超快速精密星历和IGS广播星历的方法，以及利用牛顿插值函数计算卫星发射信号时刻的三维坐标和卫星钟差的方法。
（2）介绍了智能手机利用GNSS原始观测数据计算伪距的方法，伪距单点定位的基本模型，以及各项定位误差改正的方法。经过实验证明，改正效果良好。
（3）研究了多系统组合定位中系统时间的统一，多系统之间以高度角和载噪比共同定权的方法，实现了多系统的组合定位，并通过实验验证得出：GPS GLONASS组合定位精度高于单GPS定位精度。其中N方向提升效果高于16%，E方向提升效果高于8%，U方向提升效果高于2%。
（4）介绍了利用载波相位观测值平滑伪距观测值的方法，并通过实验验证得出：载波相位平滑伪距能够有效提高定位精度，其中N方向提升效果高于65%，E方向提升效果高于55%，U方向提升效果高于45%。
（5）通过实验分析得出：GPS GLONASS相位平滑伪距单点定位的最终精度为：N、E方向的中误差为2m左右，U方向的中误差为10米以内。定位精度高于智能手机自身定位模块的精度。
（6）最后通过调用百度地图API将最终定位结果展示在百度地图上。并通过仿真实验验证了定位精度提升后的智能手机基本可以代替手持GPS应用在桥涵调查中。
关键词：GNSS；Android；伪距定位；桥涵调查
Abstract
With the development of on-line taxi, surrogate driving and shared bicycle based on mobile intelligent terminal, the public put forward higher and higher requirements for location accuracy of outdoor location service. Because smart phones widely use low-cost satellite signal receivers, their chipsets only provide users with three-dimensional position data, and can not correct the positioning results, so the accuracy of positioning and navigation services provided by them is generally low, which greatly limits the application of GNSS in smart phones. With the progress of science and technology, users need smart phones to provide more accurate positioning and navigation services, so as to meet the needs of location services in people's daily life. In May 2016, Google announced that Android systems above Android N (version 7.0) would provide raw GNSS observations. Therefore, this paper develops GNSS positioning APP for Android system with Java as the development language to improve the positioning accuracy of smartphones. The contents and conclusions of this paper are as follows:
(1) Introduced the method of obtaining GNSS original observation data by smart phone, the method of downloading IGU ultra-fast precise ephemeris and IGS broadcast ephemeris by smart phone, and the method of calculating three-dimensional coordinates and satellite clock difference by Newton interpolation function.
(2) The method of calculating pseudo-range by using GNSS original observation data, the basic model of pseudo-range single-point positioning and the methods of correcting positioning errors are introduced. The experiment proves that the correction effect is good.
(3) The unification of system time in multi-system integrated positioning is studied, and the method of determining weights by altitude angle and carrier-to-noise ratio between multi-systems is realized. The experimental results show that the positioning accuracy of GPS GLONASS integrated positioning is higher than that of single GPS positioning. Among them, the N direction lifting effect is higher than 16%, E direction lifting effect is higher than 8%, U direction lifting effect is higher than 2%.
(4) The method of smoothing pseudorange observations with carrier phase observations is introduced. The experimental results show that the carrier phase smoothing pseudorange can effectively improve the positioning accuracy, in which the N-direction improvement effect is higher than 65%, the E-direction improvement effect is higher than 55%, and the U-direction
improvement effect is higher than 45%.
(5) The final accuracy of GPS GLONASS phase smoothing pseudorange single point positioning is: the median error of N and E direction is about 2 m, and the median error of U direction is less than 10 m. The positioning accuracy is higher than that of the smart phone's own positioning module.
(6) Finally, the final positioning results are displayed on Baidu Map by calling Baidu Map API. The simulation results show that the smart phone with improved positioning accuracy can basically replace the hand-held GPS in bridge and culvert survey.
Key words: GNSS; Android; Pseudo-range positioning; Bridge and culvert survey
目 录
第一章 绪论 1
1.1研究背景及意义 1
1.2国内外研究现状 2
1.2.1伪距单点定位研究现状 2
1.2.2Android移动终端GNSS原始测量研究现状 3
1.3 主要研究内容 3
1.4 论文的结构安排 4
第二章 基于智能手机的GNSS相关开发技术 6
2.1基于Android系统的开发技术 6
2.2 基于Android系统的GNSS原始测量 6
2.3GNSS原始数据介绍及获取方法 7
2.4 IGS数据介绍及获取方法 8
2.4.1IGS概述 8
2.4.2 广播星历数据获取 9
2.4.3IGU数据获取 9
2.4.4IGU数据内插 9
第三章 伪距单点定位原理概述 10
3.1 伪距计算 10
3.2 伪距单点定位模型 10
3.2.1伪距单点定位基本原理 10
3.2.2平差模型 11
3.3 定位误差改正 12
3.3.1电离层延迟改正 12
3.3.2对流层延迟改正 12
3.3.3相对论效应 13
3.3.4地球自转影响 14
3.3.5与智能手机自身有关误差的探究 14
3.4 多系统组合定位 15
3.4.1多系统GNSS时空统一 15
3.4.2多系统GNSS组合定位定权方法 16
3.5 载波相位平滑伪距原理 16
第四章 智能手机定位程序设计及实验测试 18
4.1程序设计 18
4.1.1软件需求分析 18
4.1.2算法流程介绍 19
4.1.3软件功能介绍 22
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