BDS-3/GPS/GLONASS RTK多系统融合定位算法研究  

Research on BDS-3/GPS/GLONASS RTK positioning algorithm

作　　者：徐琦 祝会忠[1] 王艺希 朱爽 赵忠海 XU Qi;ZHU Huizhong;WANG Yixi;ZHU Shuang;ZHAO Zhonghai(School of Geomatics,Liaoning Technical University,Fuxin,Liaoning 123000,China;School of Surveying and Mapping Engineering,Heilongjiang Institute of Technology,Harbin 150050,China;The Second Geodetic Surveying Brigade of Ministry of Natural Resources,Harbin 150050,China)

机构地区：[1]辽宁工程技术大学测绘与地理科学学院,辽宁阜新123000 [2]黑龙江工程学院测绘工程学院,哈尔滨150050 [3]自然资源部第二大地测量队,哈尔滨150050

出　　处：《测绘科学》2022年第10期82-88,123,共8页Science of Surveying and Mapping

基　　金：国家自然科学基金项目(42074012,42030109);辽宁省重点研发计划项目(2020JH2/10100044);国家重点研发计划项目(2016YFC0803102);黑龙江省应用技术研究与开发计划重大项目(GA17A301)

摘　　要：针对BDS-3、GPS、GLONASS系统间融合以及单系统RTK定位性能不足的问题,该文提出了一种兼容GLONASS系统基于卡尔曼滤波方法的多系统多频组合RTK定位方法,并详细推导了数学模型,同时对BDS-3多频单历元模糊度固定方法进行研究。首先对波长较长的超宽巷模糊度进行固定,将固定后的超宽巷载波相位转换为虚拟伪距观测值进而约束宽巷模糊度固定,再利用固定后的超宽巷、宽巷模糊度对窄巷模糊度进行固定,最后基于原始载波实现厘米级定位。实测数据实验结果表明,多系统融合定位RTK定位在短基线条件下定位性能要优于单系统RTK定位,BDS-3单历元解算在Ratio值设为2.0的情况下,超宽巷、宽巷固定率可达100%,窄巷固定率可达93.6%。In view of the deficiency of single system real time kinematic(RTK)positioning performance,a multi-frequency and multi-system combined RTK positioning method based on Kalman filter was proposed,which integrated BDS-3,GPS and GLONASS.The mathematical model was derived in detail,and the multi-frequency single epoch ambiguity fixing method for BDS-3 satellite system was studied.First,the ultra-wide lane ambiguity with long wavelength was fixed,and the carrier phase of the fixed ultra-wide lane was converted into virtual pseudo-range observation to constrain the wide lane ambiguity.Thereafter,the narrow lane ambiguity was fixed by using the fixed ultra-wide lane and wide lane ambiguities.Finally,centimeter-level positioning accuracy was obtained based on the original carrier phase observations.Experimental results showed that the performance of multi-system fusion RTK positioning was better than that of single system under the condition of short baselines.Furthermore,when the ambiguity fixing Ratio for BDS-3 was set as 2.0,the ambiguity fixed rate of ultra-wide lane,wide lane and narrow lane could reach 100%,100%and 93.6%respectively.

关 键 词：BDS-3 GPS GLONASS RTK 多频 卡尔曼滤波 

分 类 号：P228[天文地球—大地测量学与测量工程]