GPS/GLONASS/BDS组合的RTK模型与精度分析
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摘要
针对RTK技术在观测条件不佳的情况下定位精度和可靠性问题,该文对GPS/GLONASS/BDS三系统组合RTK模型进行了探讨并给出了观测值域与法方程域组合RTK模型。其具体实现过程为:观测值域组合RTK模型即是对多系统的双差观测值直接进行叠加求解得到组合系统的位置参数和模糊度等信息;而法方程域组合RTK模型首先是对单系统的双差观测值进行求解得到单系统的法方程,并对多个系统的法方程叠加后求解得到组合系统的位置参数和模糊度等信息。实验结果表明,观测值域组合模型比法方程域组合模型更严密,其定位结果更稳定;组合RTK比单系统RTK精度更优,稳定性更好。
In order to improve the positioning accuracy and reliability of RTK technology under poor observation conditions,this paper studited the combined RTK model of GPS/GLONASS/BDS,and presented the model of combination of the observation domain and the normal equation domain.The specific implementation process is:the model of combination of the observation domain which directly superimposed the double-difference observation of the multisystem to obtain the position parameters and ambiguities of the combined system;and the model of combination of the normal equation domain which firstly solved the double-difference observation of single system to get the normal equation and then superimposed the normal equation of multi-system to obtain the position parameters and ambiguities of the combined system.The experimental results showed that the model of combination of the observation domain is more rigorous than the combination of the normal equation domain,and the positioning result is more stable;the multi-GNSS combined RTK has better accuracy and stability than the single-system RTK.
In order to improve the positioning accuracy and reliability of RTK technology under poor observation conditions,this paper studited the combined RTK model of GPS/GLONASS/BDS,and presented the model of combination of the observation domain and the normal equation domain.The specific implementation process is:the model of combination of the observation domain which directly superimposed the double-difference observation of the multisystem to obtain the position parameters and ambiguities of the combined system;and the model of combination of the normal equation domain which firstly solved the double-difference observation of single system to get the normal equation and then superimposed the normal equation of multi-system to obtain the position parameters and ambiguities of the combined system.The experimental results showed that the model of combination of the observation domain is more rigorous than the combination of the normal equation domain,and the positioning result is more stable;the multi-GNSS combined RTK has better accuracy and stability than the single-system RTK.
引文
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[13]袁运斌.基于GPS的电离层监测及延迟改正理论与方法的研究[D].武汉:中国科学院测量与地球物理研究所,2002.(YUAN Yunbin.Study on theories and methods of correcting ionospheric delay and monitoring ionosphere based on GPS[D].Wuhan:Institute of Geodesy and Geophysics,Chinese Academy of Sciences,2002.)
[14]袁运斌,欧吉坤.建立GPS格网电离层模型的站际分区法[J].科学通报,2002,47(8):636-639.(YUANYunbin,OU Jikun.Differential areas for differential stations(DADS):a new method of establishing grid ionospheric model[J].Chinese Science Bulletin,2002,47(8):636-639.)
[15]LI X X,GE M R,ZHANG H P,et al.The GFZ realtime GNSS precise positioning service system and its adaption for COMPASS[J].Advances in Space Research,2013,51(6):1008-1018.
[16]ZHANG B C,OU J K,YUAN Y B,et al.Extraction of line-of-sight ionospheric observables from GPS data using precise point positioning[J].Science China Earth Sciences,2012,55(11):1919-1928.
[2]张宝成.GNSS非差非组合精密单点定位的理论方法与应用研究[J].测绘学报,2014,43(10):1099.(ZHANG Baocheng.Study on the theoretical methodology and applications of precise point positioning using un-differenced and uncombined GNSS data[J].Acta Geodaetica et Cartographica Sinica,2014,43(10):1099.)
[3]高星伟.GPS/GLONASS网络RTK的算法研究与程序实现[D].武汉:武汉大学,2002.(GAO Xingwei.The algorithmic research of GPS/GLONASS network RTK and its program realization[D].Wuhan:Wuhan University,2002.)
[4]张绍成.基于GPS/GLONASS集成的CORS网络大气建模与RTK算法实现[D].武汉:武汉大学,2010.(ZHANG Shaocheng.The GPS/GLONASS integrated CORS network atmosphere modeling and RTK algorithm implementation[D].Wuhan:Wuhan University,2010.)
[5]王世进,秘金钟,李得海,等.GPS/BDS的RTK定位算法研究[J].武汉大学学报(信息科学版),2014,39(5):621-625.(WANG Shijin,BEI Jinzhong,LI Dehai,et al.Real-time kinematic positioning algorithm of GPS/BDS[J].Geomatics and Information Science of Wuhan University,2014,39(5):621-625.)
[6]高星伟,陈锐志,赵春梅.网络RTK算法研究与实验[J].武汉大学学报(信息科学版),2009,34(11):1350-1353.(GAO Xingwei,CHEN Ruizhi,ZHAO Chunmei.A network RTK algorithm and its test[J].Geomatics and Information Science of Wuhan University,2009,34(11):1350-1353.)
[7]邹璇,唐卫明,葛茂荣,等.基于非差观测的网络实时动态定位方法及其在连续运行基准站跨网服务中的应用[J].测绘学报,2011,40(S1):1-5.(ZOU Xuan,TANGWeiming,GE Maorong,et al.Method of network RTKbased on undifferenced observation corrections and its functional realization in cross-CORS service[J].Acta Geodaetica et Cartographica Sinica,2011,40(S1):1-5.)
[8]高旺,高成发,潘树国,等.北斗三频宽巷组合网络RTK单历元定位方法[J].测绘学报,2015,44(6):641-648.(GAO Wang,GAO Chengfa,PAN Shuguo,et al.Single-epoch positioning method in network RTK with BDStriple-frequency widelane combinations[J].Acta Geodaetica et Cartographica Sinica,2015,44(6):641-648.)
[9]祝会忠,徐爱功,高猛,等.BDS网络RTK中距离参考站整周模糊度单历元解算方法[J].测绘学报,2016,45(1):50-57.(ZHU Huizhong,XU Aigong,GAOMeng,et al.The algorithm of single-epoch integer ambiguity resolution between middle-range BDSnetwork RTK reference stations[J].Acta Geodaetica et Cartographica Sinica,2016,45(1):50-57.)
[10]辜声峰.多频GNSS非差非组合精密数据处理理论及其应用[D].武汉:武汉大学,2013.(GU Shengfeng.Research on the zero-difference un-combined data processing model for multi-frequency GNSS and its applications[D].Wuhan:Wuhan University,2013.)
[11]姚宜斌,胡明贤,许超钤.基于DREAMNET的GPS/BDS/GLONASS多系统网络RTK定位性能分析[J].测绘学报,2016,45(9):1009-1018.(YAO Yibin,HUMingxian,XU Chaoqian.Positioning accuracy analysis of GPS/BDS/GLONASS network RTK based on DREAMNET[J].Acta Geodaetica et Cartographica Sinica,2016,45(9):1009-1018.)
[12]鄢子平,丁乐乐,黄恩兴,等.网络RTK参考站间模糊度固定新方法[J].武汉大学学报(信息科学版),2013,38(3):295-298.(YAN Ziping,DING Lele,HUANGEnxing,et al.A new method of ambiguity resolution in network RTK between reference stations[J].Geomatics and Information Science of Wuhan University,2013,38(3):295-298.)
[13]袁运斌.基于GPS的电离层监测及延迟改正理论与方法的研究[D].武汉:中国科学院测量与地球物理研究所,2002.(YUAN Yunbin.Study on theories and methods of correcting ionospheric delay and monitoring ionosphere based on GPS[D].Wuhan:Institute of Geodesy and Geophysics,Chinese Academy of Sciences,2002.)
[14]袁运斌,欧吉坤.建立GPS格网电离层模型的站际分区法[J].科学通报,2002,47(8):636-639.(YUANYunbin,OU Jikun.Differential areas for differential stations(DADS):a new method of establishing grid ionospheric model[J].Chinese Science Bulletin,2002,47(8):636-639.)
[15]LI X X,GE M R,ZHANG H P,et al.The GFZ realtime GNSS precise positioning service system and its adaption for COMPASS[J].Advances in Space Research,2013,51(6):1008-1018.
[16]ZHANG B C,OU J K,YUAN Y B,et al.Extraction of line-of-sight ionospheric observables from GPS data using precise point positioning[J].Science China Earth Sciences,2012,55(11):1919-1928.