GPS+BDS与UWB组合定位的Helmert方差分量估计方法  

Helmert variance component estimation method for GPS+BDS and UWB integrated positioning

作　　者：赵奕文 杨天然 苗李莉 马运涛 ZHAO Yiwen;YANG Tianran;MIAO Lili;MA Yuntao(School of Geomatics and Urban Spatial Informatics,Beijing University of Civil Engineering and Architecture,Beijing 102616,China;Funing County Public Security Bureau,Wenshan Zhuang and Miao Autonomous Prefecture,Wenshan 663416,China;China University of Mining and Technology-Beijing,Beijing 100083,China)

机构地区：[1]北京建筑大学测绘与城市空间信息学院,北京102616 [2]富宁县公安局,云南文山663416 [3]中国矿业大学(北京),北京100083

出　　处：《测绘通报》2023年第8期91-96,共6页Bulletin of Surveying and Mapping

基　　金：云南省重点研发计划;城市建筑群GNSS/UWB高精度无缝定位理论与方法(41874029);北京建筑大学研究生创新项目(PG2022119)。

摘　　要：为了提高室内外过渡区定位精度,本文采用GPS+BDS与UWB组合定位,建立GPS+BDS与UWB组合定位模型,并针对GPS与BDS星座结构的不同,以及UWB与GNSS观测值残差差异较大的情况,采用Helmert方差分量估计法分别对GPS、BDS、UWB进行定权;最后通过动态室内外过渡区试验组合模型进行精度验证。结果表明,基于GNSS+UWB定位系统,采用Helmert方差分量方法,在东、北、天3个方向的定位精度均获得了显著提高,静态条件下提高幅度约为20%,动态条件下提高幅度约为10%。In order to improve the positioning accuracy of indoor and outdoor transition areas,GPS/BDS and UWB integrated positioning is used to establish a integrated GPS/BDS and UWB positioning model,and for the different structures of GPS and BDS constellations,and the large difference between UWB and GNSS observation residuals,the Helmert variance component estimation method is used to determine GPS+BDS and UWB respectively.Finally,the accuracy is verified by the dynamic indoor and outdoor transition zone experimental integrated model,and the results show that based on the GNSS+UWB positioning system and the Helmert variance component method,the positioning accuracy in the north,east and zenith directions has been improved.The positioning accuracy can be improved by about 20%under static conditions and about 10%under dynamic conditions.

关 键 词：组合定位 HELMERT方差分量估计 GPS BDS UWB 

分 类 号：P228[天文地球—大地测量学与测量工程]