基于部分模糊度解算的BDS/GPS组合RTK算法
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摘要
GNSS多频率组合RTK定位逐步进入实际应用,存在模糊度维数增多、搜索空间增大,导致模糊度搜索运算量增大及模糊度固定效率低等问题。文中提出一种多星座部分模糊度解算算法,该算法综合考虑卫星高度角、模糊度固定成功率及Ratio值来筛选卫星进行模糊度解算。通过一组动态跑车实验分析表明:相比于全模糊度解算(FAR),部分模糊度解算(PAR)可以有效地提高BDS/GPS组合RTK的模糊度固定率,其模糊度固定率从79.9%(FAR)提高到99.1%(PAR),且PAR算法定位结果可靠性更高。
As the combined multi-constellation and multi-frequency combined RTK positioning is gradually put to practical use,the number of the dimensions of ambiguity and the the search space significantly increases,which results in the increased computation of ambiguity search and low efficiency of ambiguities fixed.This paper presents a multi-constellation partial ambiguity resolution algorithm,which comprehensively considers the satellite elevation angle,success rate of ambiguity fixed and Ratio values to screen satellite for ambiguity solution.A set of kinematic experiments conducted show that:compared with the full ambiguity resolution(FAR),the partial ambiguity resolution(PAR)can effectively improve ambiguity fixed rate of combined BDS/GPS/GLONASS RTK with the ambiguity fixed rate increasing from 79.9%(FAR)to 99.1%(PAR)and positioning results of PAR algorithm getting more reliable.
As the combined multi-constellation and multi-frequency combined RTK positioning is gradually put to practical use,the number of the dimensions of ambiguity and the the search space significantly increases,which results in the increased computation of ambiguity search and low efficiency of ambiguities fixed.This paper presents a multi-constellation partial ambiguity resolution algorithm,which comprehensively considers the satellite elevation angle,success rate of ambiguity fixed and Ratio values to screen satellite for ambiguity solution.A set of kinematic experiments conducted show that:compared with the full ambiguity resolution(FAR),the partial ambiguity resolution(PAR)can effectively improve ambiguity fixed rate of combined BDS/GPS/GLONASS RTK with the ambiguity fixed rate increasing from 79.9%(FAR)to 99.1%(PAR)and positioning results of PAR algorithm getting more reliable.
引文
[1]TEUNISSEN G,JOOSTEN P.Geometry-free ambiguity success rates in case of partial fixing[C].In proceeding of ION 55th National Technical Meeting,1999.
[2]CAO W,O’KEEFE K.Partial ambiguity fixing within multiple frequencies and systems[C].In Proceedings of ION GNSS07,2007,pp312-323.
[3]WANG Jun,FENG Yanming.Reliability of partial ambiguity fixing with multiple GNSS constellations[J].J Geod,2012.DOI 10.1007/s00190-012-0573-4.
[4]李金龙.北斗/GPS多频实时精密定位理论与算法[D].郑州:信息工程大学,2014.
[5]LI B,SHEN Y.GNSS ambiguity resolution with controllable failure rate for longbaseline network RTK[J].J Geod,2013.DOI 10.1007/s00190-013-0670-z.
[6]TEUNISSEN G,JOOSTEN P,TIBERIUS C.Bias robustness of GPS ambiguity resolution[C]//Proceeding of ION GPS 2000.Salt Lake City,UT,2000:104-112.
[7]JOOSTEN P,PANY T,WINKEL J.The impactof unmodelled multipath on ambiguity resolution[C]//Proceeding of ION GPS 2002.Oregon,Portland,2002:953-961.
[8]HENKEL P,GUNTHER C.Partial integer decorrelation:optimum trade-off between variance reduction and bias amplification[J].Journal of Geodesy,2009,84(1):51-63.
[9]赵兴汪,王庆等.LAMBDA算法的部分模糊度固定及性能分析[J].中国惯性技术学报,2010,18(6):665-669.
[10]TEUNISSEN G,ODIJK D.Ambiguity Dilution of Precision:Definition,Properties and Application[C].In:Proceedings of the 10th International Technical Meeting of the satellite Division of The Institute of Navigation Kansas City,1997:891-899.
[2]CAO W,O’KEEFE K.Partial ambiguity fixing within multiple frequencies and systems[C].In Proceedings of ION GNSS07,2007,pp312-323.
[3]WANG Jun,FENG Yanming.Reliability of partial ambiguity fixing with multiple GNSS constellations[J].J Geod,2012.DOI 10.1007/s00190-012-0573-4.
[4]李金龙.北斗/GPS多频实时精密定位理论与算法[D].郑州:信息工程大学,2014.
[5]LI B,SHEN Y.GNSS ambiguity resolution with controllable failure rate for longbaseline network RTK[J].J Geod,2013.DOI 10.1007/s00190-013-0670-z.
[6]TEUNISSEN G,JOOSTEN P,TIBERIUS C.Bias robustness of GPS ambiguity resolution[C]//Proceeding of ION GPS 2000.Salt Lake City,UT,2000:104-112.
[7]JOOSTEN P,PANY T,WINKEL J.The impactof unmodelled multipath on ambiguity resolution[C]//Proceeding of ION GPS 2002.Oregon,Portland,2002:953-961.
[8]HENKEL P,GUNTHER C.Partial integer decorrelation:optimum trade-off between variance reduction and bias amplification[J].Journal of Geodesy,2009,84(1):51-63.
[9]赵兴汪,王庆等.LAMBDA算法的部分模糊度固定及性能分析[J].中国惯性技术学报,2010,18(6):665-669.
[10]TEUNISSEN G,ODIJK D.Ambiguity Dilution of Precision:Definition,Properties and Application[C].In:Proceedings of the 10th International Technical Meeting of the satellite Division of The Institute of Navigation Kansas City,1997:891-899.