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摘 要
本文结合实际工程，采用Applanix公司激光设备利用机载IMU参数和GPS系统所测量的载波多普勒频移后处理得到飞机的速度及航行，再使用GPS和IMU所测量的结果采用最小二乘法公司后处理得到飞机的横滚、俯仰、位置等参数，运用POSPAC实时动态GPS定位软件及GAMIT/GLOBK(Version 10.2)高精度静态GPS定位软件，完成一些具体的研究工作。主要研究的内容有：1．机载激光LIDAR地面基准站布设及数据处理方法；2．差分GPS在机载激光雷达轨迹中的应用；3．精密单点定位(PPP)在机载激光雷达应用。
论文结合机载LIRDA扫描的特点，介绍了GPS地面基准站的布设方案以及联测方法，详细地介绍了用于地面GPS基准站数据处理的软件GAMIT/GLOBK，对参数作了详细分析，同时对解算精度的评定方法和卡尔曼滤波方法作了简要的论述。最后对用于LIDAR轨迹解算的软件POSPac的模块和基本原理进行了介绍并用某一测区的一个架次的数据进行了具体的处理及结果分析。
POSPac是利用机载GPS和IMU所采集的数据进行GPS差分解算，它的解算原理和常规的GPS差分是一样的，不同在于常规差分GPS是GPS做静态观测，而机载差分是在测区地面布设一定数量的地面基准站，机载激光扫描时候机载GPS（动态）和地面基站GPS（静态）同步观测；在解算轨迹时，由地面GPS坐标差分求得机载GPS某一时刻的坐标，再由这些连续的坐标得到机载激光的飞行轨迹。本文结合实际的工程项目，详细的介绍了轨迹解算中重要参数的设置及结果精度评定的指标。
本文最后通过对采集到三个区域的数据(POS和机载GPS)分别用DGPS和PPP两种方法进行处理，得出两种不同的轨迹，并对轨迹差值进行统计分析，结果表明两者之间存在系统偏差且有一定的系统性，在每个架次都存在但又有不同；轨迹的系统偏差在平面方向（NE）要小于高程方向（H）；系统偏差还按航带呈周期性振荡。

关键词：全球定位系统；机载激光雷达；差分GPS；精密单点定位技术

Answer 1

本文结合实际工程，采用Applanix公司激光设备利用机载IMU参数和GPS系统所测量的载波多普勒频移后处理得到飞机的速度及航行，再使用GPS和IMU所测量的结果采用最小二乘法公司后处理得到飞机的横滚、俯仰、位置等参数，运用POSPAC实时动态GPS定位软件及GAMIT/GLOBK(Version 10.2)高精度静态GPS定位软件，完成一些具体的研究工作。
Combining with the actual engineering, the airborne laser equipment use Applanix company IMU parameters and GPS system of measurement carrier doppler frequency shift post-processing get the speed of an airplane and sailing, again USES GPS and the IMU measure results in the least square method to get the two aircraft company post-processing, pitch, position parameters, the use of POSPAC real-time dynamic GPS software and GAMIT/GLOBK (Version 10.2) high precision static GPS software, to complete some specific research work.

主要研究的内容有：1．机载激光LIDAR地面基准站布设及数据处理方法；
The main research contents: 1. The airborne laser LIDAR ground benchmark stand layout and the data processing method;

2．差分GPS在机载激光雷达轨迹中的应用；
2. Differential GPS in the application of airborne laser radar track;

3．精密单点定位(PPP)在机载激光雷达应用。
3. The precise point positioning (PPP) in the airborne laser radar applications.

论文结合机载LIRDA扫描的特点，介绍了GPS地面基准站的布设方案以及联测方法，详细地介绍了用于地面GPS基准站数据处理的软件GAMIT/GLOBK，对参数作了详细分析，同时对解算精度的评定方法和卡尔曼滤波方法作了简要的论述。
The thesis combines the characteristics of airborne LIRDA scanning, and introduces the ground benchmark of GPS station layout scheme and the united way, detailed introduces the benchmark for ground GPS data processing software GAMIT stand/GLOBK, has made the detailed analysis of parameters, and the solution to the accuracy of the evaluation methods and kalman filtering method are described.

最后对用于LIDAR轨迹解算的软件POSPac的模块和基本原理进行了介绍并用某一测区的一个架次的数据进行了具体的处理及结果分析。
The last for the solution of the LIDAR track POSPac software modules and basic principle are introduced in this paper and a measure of a number of specific data processing and analysis results.

POSPac是利用机载GPS和IMU所采集的数据进行GPS差分解算，它的解算原理和常规的GPS差分是一样的，不同在于常规差分GPS是GPS做静态观测，而机载差分是在测区地面布设一定数量的地面基准站，机载激光扫描时候机载GPS（动态）和地面基站GPS（静态）同步观测；
POSPac is using GPS and the IMU airborne of the data collected GPS difference method to calculate, it's the solution principle and regular GPS difference is the same, the difference is the conventional differential GPS is GPS do static observation, and the difference is in the area of airborne ground laid a certain number of ground benchmark stand, the airborne laser scanning time airborne GPS (dynamic) and ground stations GPS (static) synchronous observation;

在解算轨迹时，由地面GPS坐标差分求得机载GPS某一时刻的坐标，再由这些连续的坐标得到机载激光的飞行轨迹。
In the solution trajectory, the ground GPS coordinates difference for certain time of airborne GPS coordinates, again by the continuous coordinate get airborne laser flight path.

本文结合实际的工程项目，详细的介绍了轨迹解算中重要参数的设置及结果精度评定的指标。
Combining with the practical project, and introduced the track the solution in the important parameter setting and the results of the evaluation index of precision.

本文最后通过对采集到三个区域的数据(POS和机载GPS)分别用DGPS和PPP两种方法进行处理，得出两种不同的轨迹，并对轨迹差值进行统计分析，结果表明两者之间存在系统偏差且有一定的系统性，在每个架次都存在但又有不同；
The end of this article through to the collection to three areas of data (POS and airborne GPS) respectively with DGPS and PPP two methods processing, draw two different tracks, and to track the difference of statistical analysis, the results show that the system error between and have certain systemic, in each sorties are exist but is different;

轨迹的系统偏差在平面方向（NE）要小于高程方向（H）；
The system error of track in plane direction (NE) than the elevation direction (H);

系统偏差还按航带呈周期性振荡。
System error return by a periodic oscillation with air.

希望能帮到你 (*^__^*)

参考资料：有道词典

Answer 2

In this paper, the actual project, using the Applanix company laser equipment carrier Doppler shift airborne IMU parameters and measured by the GPS system aircraft post-processing speed and navigation, then use the GPS and IMU measurement results using the least squares method the company post-processing to get the aircraft roll, pitch, position and other parameters, the use of real-time kinematic GPS positioning software in POSPAC and GAMIT / GLOBK (Version 10.2) high-precision static GPS positioning software, the completion of some specific research work. The contents of the research are: 1. Airborne laser LIDAR ground base station layout and data processing methods; Differential GPS in airborne laser radar tracks; Precise Point Positioning (PPP) in the airborne laser radar applications.
Paper combines of airborne LIRDA scan features, the layout scheme of the GPS ground reference stations and associated measurement methods, described in detail for the ground GPS base station data processing the software GAMIT / GLOBK parameters analyzed in detail, while solver accuracy of the evaluation method and the Kalman filter method gave a brief exposition. Software for LIDAR trajectory solver POSPac module and the basic principles are described in a measure a vehicles data processing and results analysis.
POSPac is the use of airborne GPS and IMU data collected by GPS differential analysis, the solver principles and conventional GPS differential is the same as the difference between conventional differential GPS is a GPS static observation, airborne differential in measured Ground laid a certain number of terrestrial base station, the simultaneous observation of airborne laser scanning when the airborne GPS (dynamic) and the ground base station GPS (static); solver trajectory, to obtain the GPS coordinates from the ground differential airborne GPS at some point the coordinates, and then by continuous coordinates to get the flight path of the airborne laser. In this paper, the actual project, a detailed description of the trajectory solver important parameter settings and results of accuracy assessment indicators.
Finally, through the data (POS, and airborne GPS) collected in three regions, respectively, using DGPS and PPP are two ways to draw two different track and track the difference between statistical analysis, the results show that both between systematic bias and certain systemic, but different in each vehicles; the trajectory of the system deviation less than the elevation direction (H); systematic bias in the plane direction (NE) flight strip was cycle oscillation.