多频多模PPP-RTK应用于动态载体定位

doi:10.11871/jfdc.issn.2096-742X.2022.04.006

数据与计算发展前沿 ›› 2022, Vol. 4 ›› Issue (4): 55-69.

CSTR: 32002.14.jfdc.CN10-1649/TP.2022.04.006

doi: 10.11871/jfdc.issn.2096-742X.2022.04.006

• 专刊：北斗导航数据处理 • 上一篇下一篇

多频多模PPP-RTK应用于动态载体定位

侯鹏宇^1,^2,^*(),徐黎^1,²,柯成^1,²,Khodabandeh Amir³

1.中国科学院精密测量科学与技术创新研究院,大地测量与地球动力学国家重点实验室,湖北武汉 430071
2.中国科学院大学,地球与行星科学学院,北京 100049
3.墨尔本大学,基建工程系,澳大利亚墨尔本 VIC 3010

收稿日期:2022-03-27 出版日期:2022-08-20 发布日期:2022-08-10
通讯作者: 侯鹏宇
作者简介:侯鹏宇,中国科学院精密测量科学与技术创新研究院,博士研究生,主要研究领域为多GNSS固定模糊度的精密单点定位（PPP-RTK）,尤其是仅用相位观测值的PPP-RTK。
本文负责数据处理和初稿撰写。
HOU Pengyu is a Ph.D. candidate at the Innovation Academy for Precision Measurement Science and Technology, CAS. His current research focuses on multi-GNSS integer ambiguity resolution-enabled precise point positioning (PPP-RTK), and he has a great interest in PPP-RTK using only phase observations.
In this work, he is responsible for processing the data and writing the manuscript.
E-mail: p.hou@whigg.ac.cn

Multi-frequency and Multi-GNSS PPP-RTK for Kinematic Platform Positioning

HOU Pengyu^1,^2,^*(),XU Li^1,²,KE Cheng^1,²,Khodabandeh Amir³

1. State Key Laboratory of Geodesy and Earth's Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan, Hubei 430071, China
2. College of Earth and Planetary Sciences, University of Chinese Academy of Sciences, Beijing 100049, China
3. Department of Infrastructure Engineering, The University of Melbourne, Melbourne VIC 3010, Australia

Received:2022-03-27 Online:2022-08-20 Published:2022-08-10
Contact: HOU Pengyu
Supported by:
The National Natural Science Foundation of China(41774042);The National Natural Science Foundation of China(42174034)

摘要/Abstract

摘要：

【目的】固定模糊度的精密单点定位（Integer ambiguity resolution-enabled precise point positioning, PPP-RTK）是最前沿的全球导航卫星系统（GNSS）定位技术。现有文献广泛研究了静态PPP-RTK,而动态PPP-RTK研究仍有不足。【方法】本文构建了多频多模PPP-RTK模型并测试了该模型的静态仿动态和真动态定位性能,同时探究了多频相对于双频和多系统相对于单系统的优势。【结果】结果表明,在静态仿动态模式下,三频BDS2+Galileo PPP-RTK将双频PPP-RTK的模糊度首次固定时间（Time-to-first-fix, TTFF）从60s缩短至30s,模糊度固定成功率（Ambiguity success rate, ASR）从99.82%提升至100%,定位精度提升了5%。GPS+BDS2+BDS3+Galileo四系统PPP-RTK将定位精度进一步提升了30%。在船载动态定位中,三频Galileo PPP-RTK将双频PPP-RTK的TTFF从125s缩短至100s,ASR从81.9%提升至92.08%,定位精度提升了15%。 BDS2+BDS3+Galileo三系统PPP-RTK将TTFF缩短至5s,ASR提升至99.72%,定位精度提升至3cm。农机定位中,多频多模观测值对定位的提升与船载定位相似。GPS+Galileo+BDS2+BDS3四系统定位结果最优,其TTFF为4s, ASR为99.89%,定位精度优于3cm。

关键词: 全球导航卫星系统（GNSS）, 多频率, 多系统, 固定模糊度的精密单点定位（PPP-RTK）, 动态定位

Abstract:

[Objective] Integer ambiguity resolution-enabled precise point positioning, also known as PPP-RTK, is the state-of-the-art positioning technique using global navigation satellite systems (GNSSs). Compared with static PPP-RTK that has been comprehensively studied, investigations on kinematic PPP-RTK are rather limited. [Methods] This work formulates a multi-frequency and multi-GNSS PPP-RTK model and analyzes its performances in both simulated kinematic and real kinematic modes. We also investigate the advantages of triple-frequency positioning over dual-frequency positioning and demonstrate the benefits of multi-GNSS. [Results] For the simulated kinematic mode, the results show that triple-frequency BDS2+Galileo positioning reduces, compared to the dual-frequency case, the time-to-first-fix (TTFF) from 60 s to 30 s, improving the ambiguity success rate (ASR) from 99.82% to 100%, and the positioning accuracy by 5%. Quad-system observations combining GPS+BDS2+BDS3+Galileo further improves the accuracy by 30%. In the case of kinematic boat positioning, the triple-frequency Galileo observations also contribute to positioning, as the TTFF is decreased from 125 s to 100 s, the ASR is increased from 81.9% to 92.08%, and the positioning accuracy is improved by 15%. The benefits of multi-GNSS are remarkable as the BDS2+BDS3+Galileo triple-system positioning reduces the TTFF to 5 s, improves the ASR to 99.72%, and achieves the positioning accuracy of better than 3 cm. Regarding to the kinematic tractor positioning, the improvement benefited from the triple frequency is similar to that of kinematic boat positioning. The best positioning performance is achieved by GPS+Galileo+BDS2+BDS3 quad-system positioning. The corresponding TTFF is 4 s, the ASR is 99.89%, and the positioning accuracy is better than 3 cm.

Key words: global navigation satellite system (GNSS), multi-frequency, multi-GNSS, integer ambiguity resolution-enabled precise point positioning (PPP-RTK), kinematic positioning

侯鹏宇,徐黎,柯成,Khodabandeh Amir. 多频多模PPP-RTK应用于动态载体定位[J]. 数据与计算发展前沿, 2022, 4(4): 55-69.

HOU Pengyu,XU Li,KE Cheng,Khodabandeh Amir. Multi-frequency and Multi-GNSS PPP-RTK for Kinematic Platform Positioning[J]. Frontiers of Data and Computing, 2022, 4(4): 55-69, https://cstr.cn/32002.14.jfdc.CN10-1649/TP.2022.04.006.

图/表 12

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Observations	TTFF (s)	ASR (%)	E/N/U RMS (cm)
BDS2+Galileo (Dual-frequency)	60	99.82	0.41/0.56/1.98
BDS2+Galileo (Triple-frequency)	30	100.00	0.40/0.52/1.90
GPS+Galileo	30	100.00	0.40/0.54/1.55
GPS+Galileo+BDS2+BDS3	30	100.00	0.26/0.40/1.01

Observations	TTFF (s)	ASR (%)	E/N/U RMS (cm)
Galileo (Dual-frequency)	125	81.90	2.14/2.63/5.70
Galileo (Triple-frequency)	100	92.08	1.76/2.35/4.93
BDS3	144	92.26	1.47/1.60/4.50
BDS2+BDS3+Galileo	5	99.72	0.98/0.95/2.81

Observations	TTFF (s)	ASR (%)	E/N/U RMS (cm)
BDS2 (Dual-frequency)	136	77.94	1.76/3.99/5.13
BDS2 (Triple-frequency)	121	80.88	1.34/3.51/4.91
GPS+Galileo	101	92.21	0.85/0.95/3.20
GPS+Galileo+BDS2+BDS3	4	99.89	0.64/0.49/2.22

多频多模PPP-RTK应用于动态载体定位

Multi-frequency and Multi-GNSS PPP-RTK for Kinematic Platform Positioning

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