一种附加钟速约束的GNSS TDCP测速改进方法  

A GNSS TDCP Velocimetry Improvement Method with Additional Clock Speed Constraints

作　　者：陈爽 刘万科[1] 王颖喆 陶贤露 CHEN Shuang;LIU Wanke;WANG Yingzhe;TAO Xianlu(School of Geodesy and Geomatics,Wuhan University,Wuhan 430079,China)

机构地区：[1]武汉大学测绘学院,湖北武汉430079

出　　处：《测绘地理信息》2024年第1期56-61,共6页Journal of Geomatics

基　　金：国家自然科学基金(42274034);武汉市科技计划(2020010601012185)。

摘　　要：GNSS(global navigation satellite system)载波相位历元间差分(time-differenced carrier phase,TDCP)测速方法因其高精度、无收敛等优势而被广泛应用于动态导航定位中,但受限于观测环境引起的多维粗差与数据异常,TDCP的实际测速精度和稳定性通常难以保证。本文提出了一种附加钟速约束的TDCP测速改进方法,利用GNSS接收机钟速低频变化的特性,通过多项式拟合进行接收机钟速参数的短期预测,当钟速估计值偏离预测时,将拟合值作为约束条件回代到观测模型中重新进行速度估计,从而克服粗差的影响,提升TDCP测速的精度与稳定性。通过Ublox-F9P接收机和Huawei Mate40手机在城市复杂环境下的车载实测数据进行了算法验证,结果表明:附加钟速约束后,Ublox-F9P和Huawei Mate40的E、N、U方向测速精度RMS分别为0.11 m/s、0.10 m/s、0.14 m/s和0.20 m/s、0.19 m/s、0.18m/s,水平测速精度分别提升了84%和45%,高程测速精度分别提升了33%和10%。Due to its advantages of high accuracy and no con⁃vergence,the time-differenced carrier phase(TDCP)velo⁃cimetry method is frequently used in dynamic navigation and positioning.However,the actual velocimetry accuracy and stability of TDCP are typically challenging to guarantee due to the multidimensional coarse errors and data anomalies caused by the observation environment.Therefore,this paper pro⁃poses a TDCP velocimetry improvement method with an addi⁃tional clock speed constraint that exploits the low-frequency variation of GNSS receiver clock speed and performs shortterm prediction of receiver clock speed parameters via polyno⁃mial fitting.When the estimated clock speed deviates from the prediction,the fitted value is used as a constraint in the ob⁃servation model to overcome the influence of coarse errors and improve the accuracy and stability of TDCP velocimetry.The algorithm is validated using onboard real-world data from the Ublox-F9P receiver and the Huawei Mate40 mobile phone in a complex urban environment.The results show that with the additional clock speed constraint,the RMS of velocimetry ac⁃curacy in the E,N,and U directions for the Ublox-F9P and Huawei Mate40 are 0.11 m/s,0.10 m/s,0.14 m/s,and 0.20 m/s,0.19 m/s,0.18 m/s,with an 84%and 45%im⁃provement in horizontal velocimetry accuracy and a 33%and 10%improvement in elevation velocimetry accuracy.

关 键 词：GNSS测速 载波相位历元间差分 钟速约束 多项式拟合 粗差 

分 类 号：P228[天文地球—大地测量学与测量工程]