数据与计算发展前沿 ›› 2022, Vol. 4 ›› Issue (4): 45-54.

CSTR: 32002.14.jfdc.CN10-1649/TP.2022.04.005

doi: 10.11871/jfdc.issn.2096-742X.2022.04.005

• 专刊： 北斗导航数据处理 • 上一篇    下一篇

一种直接估计大气延迟的网络RTK算法研究

陈星宇1,2(),袁运斌1,*()   

  1. 1.中国科学院精密测量科学与技术创新研究院,湖北 武汉 430071
    2.中国科学院大学,北京 100049
  • 收稿日期:2022-03-28 出版日期:2022-08-20 发布日期:2022-08-10
  • 通讯作者: 袁运斌
  • 作者简介:陈星宇,中国科学院精密测量科学与技术创新研究院,硕士研究生,研究领域为多频多模网络RTK研究及应用。
    本文中承担工作为：算法实现与实验设计。
    CHEN Xingyu is a graduate student at the Innovation Academy for Precision Measurement Science and Technology, CAS. His research focuses on Multi-GNSS Network-RTK theory and applications.
    In this paper, he is responsible for the implementation of the algorithm and the design of experiments.
    E-mail: chenxingyu@apm.ac.cn|袁运斌,中国科学院精密测量科学与技术创新研究院,博士,研究员,博士生导师,主要研究领域为卫星精密定轨定位与空间大气效应控制。
    本文中承担工作为：科研指导。
    YUAN Yunbin is a professor at the Inn-ovation Academy for Precision Measur-ement Science and Technology, CAS. His research focuses on satellite precise orbit determination, positioning, and space atmospheric effect control.
    In this paper, he is responsible for the scientific research guide.
    E-mail: yybgps@asch.whigg.ac.cn
  • 基金资助:
    国家重点研发计划“协同精密定位技术项目”(2016YFB0501900);王宽诚率先人才计划“卢嘉锡国际团队项目”

Research on Algorithm of Network-RTK Based on Direct Estimation of Atmospheric Delay

CHEN Xingyu1,2(),YUAN Yunbin1,*()   

  1. 1. Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan, Hubei 430071, China
    2. University of Chinese Academy of Sciences, Beijing 100049, China
  • Received:2022-03-28 Online:2022-08-20 Published:2022-08-10
  • Contact: YUAN Yunbin

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摘要：

【目的】网络RTK（Real Time Kinematic）技术仍是目前实现实时动态高精度定位的重要手段之一,其顺利实施的关键在于正确固定参考站间整周模糊度及解算空间相关误差。【方法】本文重点对基线间大气延迟提取方法进行研究：选择利用卡尔曼滤波器直接估计参考站网络内各基线间单差模糊度、单差电离层延迟、非差对流层延迟的数据处理策略,旨在减小通过几何无关组合反算大气延迟时引入的噪声和其他残余误差的影响,为网络RTK空间误差建模研究提供了新的单差数据形式。【结果】利用实时流数据验证了上述模糊度固定及大气延迟提取算法的正确性,对比了不同电离层延迟提取策略,进行了用户定位测试。【结论】结果表明：采用直接估计大气延迟的方法提取的电离层延迟的变化相对更平稳、更符合电离层延迟短时变化特性且计算效果受卫星高度角的影响很小,用户可快速实现实时厘米级定位,具有较好的适用性。

关键词: 实时, 网络RTK, 整周模糊度, 电离层延迟, 对流层延迟

Abstract:

[Objective] Network-RTK is still one of the most important approaches to achieving real-time dynamic high precision positioning. The key to the technology lies in correctly fixing the integer ambiguity between reference stations and solving spatial correlation errors. [Methods] The direct estimation of atmospheric delay method (DEADM) was used in this paper: Kalman filter is chosen to directly estimate single difference ambiguity, single difference ionospheric delay, and tropospheric delay data, aiming at reducing the influence of noise and other residual errors when calculating atmospheric delay by geometry-free combination. [Results] Real-time stream data were used to verify the correctness of the above algorithm and different ionospheric delay extraction strategies were compared. [Conclusions] The results show that the variation of ionospheric delay extracted by using the direct estimation of atmospheric delay method is relatively more stable, more consistent with the short-term variation characteristics of ionospheric delay, and the calculation effect is little affected by satellite elevation. Users can quickly realize real-time centimeter-level positioning with good applicability.

Key words: Real-time, Network-RTK, Integer Ambiguity, Ionospheric Delay, Tropospheric delay