Error Modeling And Application Research Of BDS Receiving Module

BeiDou Navigation Satellite System (BDS) developed independently by China is aGlobal Navigation Satellite System, which has undergone two phases so far. To improvethe measurement accuracy and the efficiency of application(i.e data fusion in the integratednavigation systems), it is very important and desirable to know the actual error anddistribution character of BDS.Given conditions required by application, theories and methods about error modelingand estimation are adopted to study “BDS-II” distribution character of actual error in thisthesis. Firstly, a software collecting data from "BDS-II" receiver is designed with VBlanguage to process projection transformation, store data and display data. Secondly, theerror of the collected position data and velocity data are separated and the data stability isanalyzed. The time series analysis method is utilized to model the measurement errorgenerated from measuring the “BDS_II” receiver. Thirdly, the type of time series model ofposition error and velocity error are determined by the autocorrelation function and partialcorrelation function of error sequence, and the order of the model and the model parameterare determined by AIC and BIC order determination method. At last, the error state spacemodel is established based on the error model, and Kalman filter is designed to processposition and velocity error and improves BDS receiver measurement accuracy.In this thesis, MATLAB is used to analyze the data and model the error of BDSreceiving module UM220. The experiment results have the following indications：exceptfor that the dynamic X direction and dynamic velocity error data require using ARMA(2,2)model, the other error data all use ARMA(1,1). The standard deviation of static sequence isreduced by at least28.86%compared with the original sequence through Kalman filtering.The standard deviation of static position error for BDS receiver is less than1.3039m, andthe speed error is less than0.1040m/s. The standard deviation of dynamic sequence isreduced by at least36.07%compared with the original sequence. The standard deviation ofstatic position error for BDS receiver is less than1.488m, and the speed error is less than0.0225m/s. The result of this thesis lays the foundation for BDS which is used in theintegrated navigation and provides insights and ideas for improving the measurementaccuracy of BDS, which will has substantial positive influence on generalizing BDS.