附加精密大气约束的多GNSS多频PPP-RTK/INS紧组合定位方法  

Multi-GNSS and multi-frequency PPP-RTK/INS tightly integrated positioning method with additional precise atmospheric constraints

作　　者：章繁 路威 ZHANG Fan;LU Wei(Army Engineering University of PLA,Nanjing 210000,China)

机构地区：[1]陆军工程大学,南京210000

出　　处：《中国惯性技术学报》2025年第2期155-163,178,共10页Journal of Chinese Inertial Technology

基　　金：陆军工程大学青年自主创新基金(KYTYHKQTZQ23010)。

摘　　要：针对精密单点定位-实时动态定位(PPP-RTK)在城市动态复杂环境下存在定位连续性和可用性低的问题,提出一种附加精密大气约束的多GNSS多频PPP-RTK/惯性导航系统(INS)紧组合定位方法。首先基于PPP模糊度固定解提取精密大气改正数,然后融合多GNSS多频信号与INS观测值,构造多GNSS多频PPP-RTK/INS紧组合模型,提升面向城市动态复杂场景的高精度位置服务能力,最后通过城市实测车载数据验证算法有效性。实验结果表明:在GPS+Galileo组合中,与三频PPP-RTK相比,三频PPP-RTK/INS紧组合模型在东、北和天向定位偏差优于[0.2 0.2 0.5] m的历元占比由92.70%提升至98.09%,模糊度固定率由81.25%提升至93.69%,系统定位连续性和可用性大幅提升。然而,多频PPP-RTK/INS紧组合模型相较双频PPP-RTK/INS提升有限,这可能与PPP-RTK深度融合INS观测值后的结构优化有关。Aiming at the problem of low positioning continuity and availability of precision point positioning-real-time kinematic(PPP-RTK)in the dynamic and complex urban environment,a multi-GNSS multi-frequency PPP-RTK/inertial navigation system(INS)tightly integrated positioning method with additional precise atmospheric constraints is proposed.Firstly,the precise atmospheric corrections are extracted using the fixed solution of PPP ambiguity.Then by deeply integrating the multi-GNSS and multi-frequency signals and INS observations,a multi-GNSS and multi-frequency PPP-RTK/INS tightly integrated model is presented to improve the high-precision positioning ability for urban dynamic and complex environment.Finally,the effectiveness of the algorithm is validated based on the vehicle's dynamic positioning experiments.The experimental results show that in the GPS+Galileo combination,compared with triple-frequency PPP-RTK,the proportion of epochs with positioning bias better than[0.20.20.5]m in the eastward,northward and upward directions of triple-frequency PPP-RTK/INS has been improved from 92.70%to 98.09%,and the ambiguity fixed rate has been also improved from 81.25%to 93.69%.The system positioning continuity and availability are greatly improved.However,the improvement of the multi-frequency PPP-RTK/INS tightly integrated model compared to the dual-frequency scheme is limited,which may be related to the structural optimization after the deep fusion of PP-RTK and INS observations.

关 键 词：精密单点定位-实时动态定位 惯性导航系统 车载动态定位 多GNSS多频观测值 

分 类 号：P228[天文地球—大地测量学与测量工程]