利用等价消去原理实现实时动态单点定位快速可靠收敛  

Fast and Reliable Convergence of Real-Time Kinematic Single Point Positioning Using Equivalent Elimination Principle

作　　者：郭迟[1,2] 卢飞 邓辰龙 唐卫明[1,2] 罗亚荣 GUO Chi;LU Fei;DENG Chenlong;TANG Weiming;LUO Yarong(GNSS Research Center,Wuhan University,Wuhan 430079,China;Hubei Luojia Laboratory,Wuhan 430079,China)

机构地区：[1]武汉大学卫星导航定位技术研究中心,湖北武汉430079 [2]湖北珞珈实验室,湖北武汉430079

出　　处：《武汉大学学报（信息科学版）》2023年第7期1117-1125,共9页Geomatics and Information Science of Wuhan University

基　　金：国家重点研发计划(2022YFB3904602);中国第二代卫星导航系统重大专项(GFZX030302030205-1);湖北珞珈实验室专项基金。

摘　　要：无人机、自动驾驶等领域的快速发展对全球卫星导航系统实时动态定位提出了更高的精度要求,而传统基于多普勒测速的常速滤波模型和基于载波时间差分的位置变化滤波模型的定位精度难以实现动态目标位置信息的实时、准确、稳定获取。根据等价消去原理移除动态坐标参数,采用历元间差分观测值并充分顾及模型残差的影响,构建准静态卡尔曼滤波模型。利用滤波得到的模型残差对位置信息进行修正,极大削弱了直接采用相位时间差分获取位置变化量带来的模型残差累积。利用无人机和车辆平台采集的数据分别进行了GPS和北斗卫星导航系统(BeiDou satellitenavi-gation system,BDS)的单频动态定位实验,结果显示,基于等价消去原理的滤波模型能实现优于30s的定位收敛,相对首历元位置的三维定位偏差的标准差基本在10cm以内,平面精度可达3cm。另外,由于卫星数的差异,基于BDS的收敛速度和稳定性均优于GPS。Objectives:The rapid development of unmanned aerial vehicles(UAV),autonomous driving and other fields have put forward higher accuracy requirements for global navigation satellite system real-time kinematic positioning.However,the traditional filtering model with constant velocities based on the Doppler measurements,or the filtering model with position variations based on the time-differenced carrier phase measurements,is difficult to describe the accurate state of the moving targets,and thus cannot ac-quire their real-time,accurate,and stable location information,especially when the receiver can only ob-serve a single system.To solve this issue,we propose a novel filtering model for real-time kinematic posi-tioning,and its performance is compared with the above two filtering models.Methods:The time-variable parameters,including the coordinates and the receiver clock error,are eliminated according to the equiva-lent elimination principle.The integer ambiguities are removed and the atmospheric delays are reduced using the time-differenced observations.The quasi-static Kalman filtering model is constructed by considering the impact of the model residuals,and the described state in the filtering model becomes much more consistent with the reality.The estimated model residuals are used to correct the position information of moving targets.In this way,the accumulation of the model residuals when directly using the time-differenced phase observables to obtain the position variations are greatly alleviated.The kinematic positioning experiments were carried out using the single-frequency GPS and BeiDou satellite navigation system(BDS)data collected by the UAV and the vehicle platforms,respectively,and the obtained results from three different filtering models are compared with the referenced results from real-time kinematic positioning.Results:Experimental results show that:(1)The filtering model based on the equivalent elimination principle can achieve positioning convergence better than 30 s.Compared with the filtering

关 键 词：动态定位 等价消去 卡尔曼滤波 位置变化 

分 类 号：P228[天文地球—大地测量学与测量工程]