一种双频非组合实时精密定位方法

发布时间：2018-03-27 15:37

本文选题：实时精密定位　切入点：双频　出处：《哈尔滨工业大学学报》2017年11期

【摘要】：为满足单系统单基线双频数据条件下的实时精密定位需求,提出一种双频非组合实时精密定位技术,基于站间-星间载波相位及伪距观测量双差观测模型,实现单系统单基线双频非组合RTK(Real Time Kinematic).通过分析双差模型观测量冗余度,确立模型残余误差处理策略,设定状态向量,推导并建立状态预测方程及测量方程,实时更新状态向量变换矩阵,根据随机模型调整两种观测量数据的权重,最后利用扩展卡尔曼滤波器技术得到实时定位结果.文中基于几组中长基线实验,通过考察定位结果的三维定位误差及整周模糊度成功固定率,验证该方法的有效性.实验结果表明,在中长基线条件下进行实时定位,该方法精度可以达到厘米级,基线长度为135.6 km时,整周模糊度固定成功率为97.3%,东向、北向、天向的CEP95定位误差分别为1.35 cm、1.84 cm、7.08 cm.双频非组合技术充分利用差分技术的优势消除与距离无关的相关误差,并有效地避免了观测值组合过程所引起的观测噪声,可以实现中长基线条件下的厘米级实时定位.
[Abstract]:In order to meet the requirement of real-time precise positioning under the condition of single baseline and dual-frequency data, a dual-frequency non-combinatorial real-time precise positioning technique is proposed, which is based on the dual-difference observation model of inter-satellite carrier phase and pseudo-range observation. By analyzing the redundancy of double difference model observations, the residual error treatment strategy of the model is established, the state vector is set up, and the state prediction equation and measurement equation are derived and established. The state vector transformation matrix is updated in real time, and the weights of the two observations are adjusted according to the random model. Finally, the real time localization results are obtained by using the extended Kalman filter technique. The effectiveness of the method is verified by investigating the 3D positioning error and the successful fixing rate of integer ambiguity. The experimental results show that the accuracy of the method can reach centimeter level when real-time positioning is carried out under the condition of medium and long baseline. When the baseline length is 135.6 km, the fixed success rate of integer ambiguity is 97.3, and the CEP95 positioning error in the east, north and sky directions is 1.35 cm ~ (-1) cm ~ (-1) and 1.84 cm ~ (-1) cm ~ (-1) 7.08 cm 路m ~ (-1) respectively. The dual-frequency non-combinatorial technique makes full use of the advantage of the difference technique to eliminate the relative errors independent of distance. The observation noise caused by the combination of observations can be avoided effectively, and the centimeter real-time location can be realized under the condition of medium and long baselines.
【作者单位】：哈尔滨工程大学自动化学院;
【基金】：国家自然科学基金重点项目(61633008);国家自然科学基金青年科学基金(61304235、61401114)资助的课题
【分类号】：P228.4

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