城市环境下多系统PPP/INS定位测速性能分析  

Performance analysis of multi-system PPP/INS positioning and speed measurement in urban environments

作　　者：赖路广 赵冬青[1] 李林阳[1] 杨朝永 张乐添 贾晓雪 LAI Luguang;ZHAO Dongqing;LI Linyang;YANG Chaoyong;ZHANG Letian;JIA Xiaoxue(Information Engineering University,Zhengzhou 450001,China)

机构地区：[1]信息工程大学,郑州450001

出　　处：《导航定位学报》2024年第5期89-97,共9页Journal of Navigation and Positioning

基　　金：国家自然科学基金项目(41774037,42104033)。

摘　　要：为了进一步提升动态环境下的组合导航定位测速的精度,对城市环境下多系统精密单点定位(PPP)/惯性导航系统(INS)定位进行测速性能分析:基于消电离层组合PPP模型构建松、紧组合PPP/INS模型,利用卡尔曼滤波实现PPP/INS定位测速算法;然后通过车载实测数据验证PPP/INS模型的定位测速精度,并分析全球定位系统(GPS)/INS松、紧组合,GPS+伽利略卫星导航系统(Galileo)/INS松、紧组合和GPS+格洛纳斯卫星导航系统(GLONASS)+Galileo/INS松、紧组合的定位、测速性能。结果表明,PPP/INS的定位精度在观测卫星数目较多的情况下可达到厘米级,测速精度可达到亚厘米级;在城市环境中采用多卫星系统组合是改善精度的一个重要途径,在观测卫星数目较多的情况下松组合与紧组合精度基本相当,全球卫星导航系统(GNSS)观测状况不佳时,紧组合与松组合模式相比精度可有明显提高;不同卫星系统下,紧组合较松组合的测速精度均能有所提高。In order to further improve the accuracy of positioning and velocity measurement of integrated navigation in dynamic environments,the paper carried out the performance analysis on the positioning and speed measurement of multi-system precise point positioning(PPP)/inertial navigation system(INS)in urban environments:based on the ionosphere-free combination PPP model,the loosely coupled integration(LCI)and tightly coupled integration(TCI)PPP/INS model was constructed,and the PPP/INS positioning and velocity determination algorithm was realized by Kalman filter;then,the accuracy of PPP/INS positioning and velocity measurement was verified by vehicle measured data,and the positioning and velocity measurement performance of global positioning system(GPS)/INS loose and tight combination,GPS+Galileo navigation satellite system(Galileo)/INS loose and tight combination,and GPS+Russian global navigation satellite system(GLONASS)+Galileo/INS loose and tight combination were analyzed.Results showed that the PPP/INS positioning accuracy could reach cm-level in dynamic open environments,and the velocity measurement accuracy could reach sub-cm level;moreover,it could be known that using multi satellite system combination in urban environments would be an important way to improve accuracy;furthermore,in good global navigation satellite system(GNSS)observation conditions,the precision of loose combination and tight combination would be basically the same,while in bad GNSS ob servation conditions,the precision of tight combination would be obviously higher than that of loose combination;in general,under different satellite systems,the velocity determination accuracy of tightly coupled integration could be improved than that of loosely coupled integration.

关 键 词：消电离层组合 精密单点定位(PPP)/惯性导航系统(INS) 松组合(LCI) 紧组合(TCI) 定位精度 测速精度 

分 类 号：P228[天文地球—大地测量学与测量工程]