一种历元间差分的多粗差探测方法  

A new method for detecting multi-gross errors based on epoch differential model

作　　者：史小雨 单弘煜 李成钢 SHI Xiaoyu;SHAN Hongyu;LI Chenggang(Guangzhou Hi-Target Navigation Tech.Co.,Ltd.,Guangzhou 511493,China;Hi-Target Surveying InstrumentCo.,Ltd.,Guangzhou 511493,China)

机构地区：[1]广州中海达卫星导航技术股份有限公司,广州511493 [2]广州市中海达测绘仪器有限公司,广州511493

出　　处：《测绘科学》2019年第7期24-29,共6页Science of Surveying and Mapping

基　　金：广东省科技计划项目(2017B010117006,2017B030302011);广州市科技计划项目(201704030017)

摘　　要：针对无人机飞行过程中观测值质量较差、复杂多变的动态环境带来多个粗差,从而严重影响解算结果的精度及可靠性的问题,该文提出了一种基于历元间变化量的多粗差探测新方法。由于无人机RTK的采样率一般较高,前后历元间具有较好的一致性,所以本方法通过历元间差分进行初步探测,之后运用高精度历元间变化量的先验信息进行抗差卡尔曼滤波,并且本文对粗差和周跳进行区别处理,从而保证即使在多周跳多粗差的情况下,依然保证滤波器的稳定性。通过中海达自主研发的后处理软件UAV-PPK,对多组实测数据进行模拟实时RTK及后处理PPK解算。结果显示,该方法通过历元间变化量的约束,可有效地对多粗差进行探测,防止发生跳变,从而为无人机实时RTK及后处理PPK提供连续高精度、高可靠性的位置信息。This paper aimed at the poor quality of observations during the flight of the UAV,the complex and variable dynamic environment brought a lot of gross errors,which seriously affected the accuracy and reliability of the solution results,a new method for detecting multi-gross errors based on epoch differential model was put forward.Since the sampling rate of the UAV RTK was generally high,and the epochs had good consistency between the epochs,the method performs preliminary detection through the difference between the epochs,and then used the prior information of the variation between the high-precision epochs to resist Robust Kalman filtering,and the difference processing between the gross error and the cycle slip was ensured in this paper,so as to ensure the stability of the filter even in the case of multi-cycle hopping.Through the UAV-PPK,a self-developed post-processing software independently developed by HI-TARGET,the real-time RTK and post-processing PPK solutions were performed on multiple sets of measured data.The results showed that the method could effectively solve the multiple gross errors by the constraint of the change between the epochs,detection to prevent hopping,providing continuous high-precision,high-reliability position information for UAV RTK and post-processing PPK.

关 键 词：历元间变化量 多粗差探测 实时动态定位 后处理动态定位 

分 类 号：P228[天文地球—大地测量学与测量工程]