低成本车载RTK高精度定位方法  

Low-cost Vehicle RTK High-accuracy Positioning Method

作　　者：杨忠荣 YANG Zhongrong(Hi-Target Surveying Instrument Co.,Ltd.,Guangzhou 511400,China)

机构地区：[1]广州市中海达测绘仪器有限公司,广东广州511400

出　　处：《地理空间信息》2025年第3期96-100,共5页Geospatial Information

摘　　要：为解决低成本导航模块在复杂环境下定位可靠性低、连续性差的问题,提出了一种基于低成本导航模块实时动态(RTK)定位的车载高精度解决方案,引入惯性导航系统(INS)解算结果进行辅助定位,充分发挥了INS结果不受外界环境干扰且短时间内相对定位精度高的特点。通过INS位置信息辅助RTK进行周跳探测和浮点解滤波,可提升周跳探测的准确性、浮点解精度和平滑性。结果表明,在空旷环境下的结果差异不大;在城市遮挡环境下,固定率约提升5%,在树荫遮挡环境下,平面高程2 m精度能达到100%;在高架桥遮挡环境下,超过68%的历元的平面精度能达到2 m以内,98%的历元的高程精度能达到2 m,优于传统RTK解算结果。To address the issues of low reliability and poor continuity of low-cost navigation modules in complex environments,we proposed a vehicle high-accuracy positioning method based on real-time kinematic(RTK)positioning of low-cost navigation modules.We introduced the solution results of inertial navigation system(INS)to assist in positioning,and fully utilized the characteristics of INS results that were not affected by external environmental interference and had high relative positioning accuracy in a short period of time.By using INS position information to assist RTK in cycle slip detection and floating-point filtering,the accuracy of cycle slip detection,as well as floating-point solution accuracy and smoothness,have been improved.The actual measurement results show that there is not much difference in the results in open environments,but in urban obstructed environment,the fixed rate increases by about 5%.In shaded scenes,the accuracy of plane elevation of 2 m can reach 100%.In heavily obstructed environments of elevated bridges,over 68%of the epoch’s plane accuracy can reach within 2 m,and 98%of the epoch’s elevation accuracy can reach 2 m,which is better than traditional RTK solutions.

关 键 词：RTK 车载导航 INS辅助导航 低成本RTK 

分 类 号：P228.4[天文地球—大地测量学与测量工程]