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

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

Abstract

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

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.

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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