摘要
本文首先回顾了GNSS差分和组合数据处理的起源、特点和应用,并阐述了其在多频多模背景下的局限。然后,引出了非差非组合数据处理的诸多优势,介绍了构建满秩非差非组合函数模型的消秩亏方法。基于该方法,本文系统构建了系列非差非组合PPP-RTK模型,包括伪距加相位和仅用相位两大类。两类模型均考虑不同的大气约束而衍生出电离层加权、浮点和固定3种变体,且所有模型均顾及码分多址和频分多址两类系统。最后,本文测试分析了非差非组合PPP-RTK在无人船、无人机和农机应用中的动态定位性能。试验结果表明,3个场景下的模糊度首次固定时间均在10 s以内,模糊度固定成功率在96%以上,水平定位精度优于2 cm,高程定位精度优于5 cm。在Galileo+GPS+BDS三系统农机定位中,仅用相位PPP-RTK与伪距加相位PPP-RTK定位性能相当。与Galileo+GPS双系统定位相比,三系统PPP-RTK将模糊度首次固定时间从几百秒缩短至几秒,模糊度固定成功率从85%左右提升至99%以上,定位精度提升了30%左右。
This work discusses the origins,features,and applications of GNSS differenced and combined data processing methods.After pointing out some limits of the differenced and combined methods under the background of multi-frequency and multi-GNSS,we summarize the advantages of the undifferenced and uncombined data processing method and introduce the rank-deficiency elimination strategy that is used to construct full-rank undifferenced and uncombined models.Based on this strategy,we systematically formulate a class of undifferenced and uncombined integer ambiguity resolution-enabled precise point positioning(PPP-RTK)functional models,including code-plus-phase and phase-only categories.Both categories impose different constraints on ionospheric delays and yield three variants,including ionosphere-weighted,ionosphere-float,and ionosphere-fixed variants.All variants consider both code and frequency division multiple access signals.Finally,we evaluate the undifferenced and uncombined PPP-RTK performance by conducting boat-borne,airborne,and tractor-borne positioning experiments.Results show that,for three cases,the time to first fix is less than 10 s,the ambiguity success rate is higher than 96%,the horizontal positioning accuracy is better than 2 cm,and the vertical positioning accuracy is better than 5 cm.For Galileo+GPS+BDS triple-system tractor-borne positioning,the performance of phase-only PPP-RTK is comparable to that of code-plus-phase PPP-RTK.Compared to Galileo+GPS dual-system positioning,triple-system positioning decreases the time to first fix from several hundreds of seconds to several seconds,improves the ambiguity success rate from approximately 85%to better than 99%,and improves the positioning accuracy by approximately 30%.
作者
袁运斌
侯鹏宇
张宝成
YUAN Yunbin;HOU Pengyu;ZHANG Baocheng(State Key Laboratory of Geodesy and Earth's Dynamics,Innovation Academy for Precision Measurement Science and Technology,Chinese Academy of Sciences,Wuhan 430071,China;College of Earth and Planetary Sciences,University of Chinese Academy of Sciences,Beijing 100049,China;State Key Laboratory of Satellite Navigation System and Equipment Technology,The 54th Research Institute of China Electronics Technology Group Corporation,Shijiazhuang 050081,China)
出处
《测绘学报》
EI
CSCD
北大核心
2022年第7期1225-1238,共14页
Acta Geodaetica et Cartographica Sinica
基金
国家自然科学基金(42022025)
国家重点研发计划(2016YFB0501900)
王宽诚率先人才计划“卢嘉锡国际团队项目”。
关键词
GNSS
非差非组合数据
数据处理
消秩亏
PPP-RTK
函数模型
GNSS
undifferenced and uncombined data
data processing
rank-deficiency elimination
PPP-RTK
functional model
