Multi-GNSS Fusion Real-Time Kinematic Algorithm Based on Extended Kalman Filter Correction Model for Medium-Long Baselines  

作　　者：XIA Yang REN Guanghui WAN Yuan MAO Xuchu 夏杨;任光辉;万缘;茅旭初

机构地区：[1]School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China [2]PLA Unit 63819,Yibin 644000,Sichuan,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2024年第6期1191-1201,共11页上海交通大学学报(英文版)

摘　　要：In the case of a medium-long baseline, for real-time kinematic (RTK) positioning, the fixed rate of integer ambiguity is low due to the distance between the base station and the observation station. Moreover, the atmospheric delay after differential processing cannot be ignored. For correcting the residual atmospheric errors, we proposed a GPS/BDS/Galileo/GLONASS four-system fusion RTK positioning algorithm, which is based on the extended Kalman filter (EKF) algorithm. After realizing the spatio-temporal unification of multiple global navigation satellite systems (GNSSs), we introduced a parameter estimation of atmospheric errors based on the EKF model, using the least-squares integer ambiguity decorrelation adjustment (LAMBDA) to calculate the integer ambiguity. After conducting experiments for different baselines, the proposed RTK positioning algorithm can achieve centimeter-level positioning accuracy in the case of medium-long baselines. In addition, the time required to solve the fixed solution is shorter than that of the traditional RTK positioning algorithm.

关 键 词：real-time kinematic(RTK) extended Kalman filter(EKF) BASELINE AMBIGUITY ionospheric delay tropospheric delay 

分 类 号：TN967.1[电子电信—信号与信息处理]