混合时间差分和非差分载波相位的无人机精密单点定位  

Combination of time-differenced and undifferenced carrier phase for unmanned aerial vehicle precise point positioning

作　　者：雷广渊[1] 彭思敏 艾先俊 余文坤 LEI Guangyuan;PENG Simin;AI Xianjun;YU Wenkun(Guangzhou Urban Planning and Design Survey Research Institute,Guangzhou 510060,China;School of Geosciences and Info-physics,Central South University,Changsha 410083,China)

机构地区：[1]广州市城市规划勘测设计研究院,广州510060 [2]中南大学地球科学与信息物理学院,长沙410083

出　　处：《导航定位学报》2023年第3期105-111,共7页Journal of Navigation and Positioning

基　　金：广东省重点领域研发计划项目(2020B0101130009);广东省城市感知与监测预警企业重点实验室基金项目(2020B121202019);广州市城市规划勘测设计研究院科技基金项目(RDI2200201927)。

摘　　要：针对精密单点定位(PPP)在载波相位模糊度估计值收敛之前,定位精度波动较大,这一阶段对于传统PPP技术来说需要几十分钟的时间,难以满足快速无人机作业需求,且时间差分载波相位(TDCP)技术可以消除模糊度等常值变量,计算得到的历元间位置变化量精度较高,但是受系统误差影响较大且增加了数据的相关性,误差会随着时间积累等问题,提出一种PPP和TDCP相结合的无人机定位算法:基于20Hz高采样固定翼无人机实际观测数据,对比分析基于传统PPP、TDCP、混合TDCP与非差观测PPP 3种方法的无人机定位性能。结果表明,混合TDCP和传统非差观测的无人机PPP定位算法的精度较传统PPP方法提高71.5%。Aiming at the problems that before the convergence of estimates for carrier phase ambiguities,the accuracy of precise point positioning(PPP)fluctuates greatly,and it often takes tens of minutes on the stage of convergence for traditional PPP technology,which makes it difficult to meet the needs of fast unmanned aerial vehicle(UAV)operations,in addition,time differenced carrier phase(TDCP)technology can eliminate constant variables such as ambiguities and hardware biases,and the calculated position variation between consecutive epochs is highly precise,while TDCP is correlated in time domain and greatly affected by systematic errors,leading to accumulative errors over time,the paper proposed a UAV positioning approach combining PPP and TDCP:based on the actual observation data of 20 Hz high sampling fixed-wing UAV,the positioning performances of UAV based on traditional PPP,TDCP and combination of TDCP and non-differential PPP were comparatively analyzed.Results showed that by the proposed method,the positioning accuracy could be improved by 71.5%compared with that of the traditional PPP method.

关 键 词：时间差分载波相位(TDCP) 无人机(UAV) 精密单点定位(PPP) 

分 类 号：P228.1[天文地球—大地测量学与测量工程]