中长基线RTK定位算法研究及性能验证分析  

Medium-Long Baseline RTK Positioning Algorithm and Performance Analysis

作　　者：牛慧军[1] 杨开伟[2,3] 邱利军 Niu Huijun;Yang Kaiwei;Qiu Lijun(Unit 92941,PLA,Huludao 125001,China;The 54th Research Institute of CETC,Shijiazhuang 050081,China;State Key Laboratory of Satellite Navigation System and Equipment Technology,Shijiazhuang 050081,China;Hebei University of Architecture,Zhangjiakou 075000,China)

机构地区：[1]中国人民解放军92941部队,葫芦岛125001 [2]中国电子科技集团公司第五十四研究所,石家庄050081 [3]卫星导航系统与装备技术国家重点实验室,石家庄050081 [4]河北建筑工程学院,张家口075000

出　　处：《电子测量技术》2020年第10期174-178,共5页Electronic Measurement Technology

摘　　要：中长基线RTK定位解算中,流动站和基准站之间的误差由于距离的变远导致他们的空间相关性变弱,做双差后剩余的残差会比较大(主要为大气误差项),为了解决中长基线模式下的RTK高精度定位,本文采取在构建法方程的时,把大气误差项(做差后的相对对流层、相对电离层)作为未知参数跟位置参数和模糊度参数一起进行估计。由于地面测站观测的卫星信号质量跟卫星的高度角有很大关系,卫星的升降运动会导致高度角的变化,此外某时刻新观测卫星的加入也会对模糊度固定和快速收敛带来一定的影响。故本文在参数估计过程中采用每个历元根据高度角最高的原则来重新选择参考星的方法。最后利用基线长度分别约为70.5 km、82 km、98 km、105 km的实测数据对文中提出的方法进行分析和实验验证,结果表明采用新方法的模糊度的固定成功率在91%~95%之间,而传统的RTK方法模糊度固定成功率在58.6%~77%之间,新方法能提高中长基线条件下的模糊度固定成功率,同时可以提高中长基线模式下的RTK的定位性能。In medium-long distance baseline conditions,the correlation of errors between rover and reference station is weak,and the residual error after double-difference is large(mainly atmosphere errors).For the sake of studying RTK position under medium-long distance baselines,in this paper we design a method that estimating relative tropospheric delay and relative ionosphere delay as unknown parameters,and use kalman filter to estimate,Since the satellite signal quality observed by the ground station is closely related to the height Angle of the satellite,the movement of the satellite will lead to the change of the height Angle.In addition,the addition of new observation satellites at a certain time will also bring certain effects on the fixed ambiguity and rapid convergence.Therefore,in the parameter estimation process,the method of reselecting the reference star according to the principle of the highest height Angle of each epoch is adopted.Finally respectively using baseline length of about 70.5km,82km,98km,105km of the measured data of the proposed method was analyzed and the experimental verification,the results show that the new method of the fuzzy degree of fixed rate between 91%~95%,and the traditional method of RTK ambiguity fixed rate between 58.6%and 77%,the new method can improve the success rate of long baseline ambiguity under the condition of fixed,at the same time can improve the long baseline mode of RTK positioning performance.

关 键 词：中长基线RTK 双差组合 快速收敛 双差模糊度固定 固定成功率 卫星升降 定位性能 

分 类 号：P315.2[天文地球—地震学]