北斗站间单差载波相位差分定位方法
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摘要
针对传统基于站间-星间双差载波相位差分存在放大观测量随机误差,使得卫星间存在耦合,导致参考星变换时产生整周跳跃的问题,提出一种基于站间单差模型的精密定位算法,通过站间单差消除大气延迟、卫星端等偏差,保持了卫星间观测量的独立性,并结合双钟差模型以保持载波相位的整周特性。通过北斗实测车载实验进行了验证,测试结果表明,基于改进的单差模型定位精度达到厘米级,模糊度固定率达到90%以上。
The traditional double difference(DD) model not only enlarges observational noise, but also leads to correlation of inter-observations. Moreover, the change of reference satellite will yield the phenomenon of "integer jumps". A model of carrier phase single difference(SD) for achieving absolute precise positioning is proposed. The proposed method not only implements SD to mitigate satellite and atmospheric errors to maintain the independence of observations, but also reserves the integer nature of carrier-phase. To eliminate the effect of receiver errors, the double clock model is adopted. The BDS data from the vehicle experiment is collected to test the performance of the proposed method. The results show that the proposed method can achieve the decimeter level of positioning accuracy and over 90% ambiguity resolution success rate.
The traditional double difference(DD) model not only enlarges observational noise, but also leads to correlation of inter-observations. Moreover, the change of reference satellite will yield the phenomenon of "integer jumps". A model of carrier phase single difference(SD) for achieving absolute precise positioning is proposed. The proposed method not only implements SD to mitigate satellite and atmospheric errors to maintain the independence of observations, but also reserves the integer nature of carrier-phase. To eliminate the effect of receiver errors, the double clock model is adopted. The BDS data from the vehicle experiment is collected to test the performance of the proposed method. The results show that the proposed method can achieve the decimeter level of positioning accuracy and over 90% ambiguity resolution success rate.
引文
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[12]Li L,Li Z S,Yuan H,et al.Integrity monitoring-based ratio test for GNSS integer ambiguity validation[J].GPSSolutions,2016,20(3):573-585.
[2]王世进,秘金钟,李得海,等.GPS/BDS的RTK定位算法研究[J].武汉大学学报(信息科学版),2014,39(5):621-625.Wnag S,Bei J,Li D,Zhu H.Real-time kinematic positioning algorithm for GPS/BDS[J].Journal of Wuhan University,2014,39(5):621-625.
[3]Odolinski R,Teunissen P J G,Odijk D.Combined GPS+BDS for short to long baseline RTK positioning[J].Measurement Science&Technology,2015,26(4):045801.
[4]Quan Y M,Lawrence L,Roberts G W,et al.Measurement signal quality assessment on all available and new signals of multi-GNSS(GPS,GLONASS,Galileo,BDS,and QZSS)with real data[J].Journal of Navigation,2016,69(2):313-334.
[5]Hansen J M,Johansen T A,Sokolova N,et al.Nonlinear observer for tightly coupled integrated inertial navigation aided by RTK-GNSS measurements[J].IEEE Transactions on Control Systems Technology,2018,PP(99):1-16.
[6]Brack A.Reliable GPS+BDS RTK positioning with partial ambiguity resolution[J].GPS Solutions,2017,21(3):1-10.
[7]张宝成,袁运斌,蒋振伟.一种无须变换参考星的GNSS单基线卡尔曼滤波算法[J].测绘学报,2015,44(9):958-964,979.Zhang B C,Yuan Y B,Jiang Z W.Kalman filter-based single-baseline GNSS data processing without pivot satellite changing[J].Acta Geodaetica et Cartgraphica Sinica,2015,44(9):958-964,979.
[8]Collins P.Isolating and estimating undifferenced GPSinteger ambiguities[C]//Proceedings of ION National Technical Meeting.San Diego,CA,2008:720-732.
[9]Collins P,Lahaye F,Héroux P,et al.Precise point positioning with ambiguity resolution using the decoupled clock model[C]//Proceedings of ION GNSS.San Diego,CA,2008:1315-1322.
[10]Zhu X F,Chen X Y,Chen J F.Influence of strong ionospheric scintillation on GPS software receiver[J].Journal of Chinese Inertial Technology,2016,24(4):480-484.
[11]王琰,张传定,胡小工,等.卫星分群的抗差Kalman滤波在GPS/BDS融合精密单点定位中的应用[J].中国惯性技术学报,2016,24(6):769-774.Wang Y,Zhang C D,Hu X G,et al.Robust Kalman filtering based on different satellite types and its application in GPS/BDS precise point positioning[J].Journal of Chinese Inertial Technology,2016,24(6):769-774.
[12]Li L,Li Z S,Yuan H,et al.Integrity monitoring-based ratio test for GNSS integer ambiguity validation[J].GPSSolutions,2016,20(3):573-585.