面向城市复杂环境的3种多频多系统GNSS单点高精度定位方法及性能分析

doi:10.11947/j.AGCS.2020.20190106

摘要/Abstract

摘要： 城市智能交通、自动驾驶等对高精度动态定位的需求为分米级甚至厘米级，但在城市复杂环境下信号遮挡、衰减和多径频繁发生，GNSS定位的可用性和精度严重降低。本文充分利用现有可用的多频多系统GNSS （GPS/BDS/Galileo/QZSS）数据，采用最新提出的单历元PPP宽巷模糊度固定方法（PPP-WAR），并与传统PPP方法和广域伪距增强精密定位方法进行对比试验，分析了这3种单点高精度定位方法在大都市高楼密布道路、小城镇狭窄道路和工业区开阔道路3种不同信号遮挡条件下的车载动态定位性能。结果表明，目前城市环境中的三频数据完整性高达94%以上，可满足基于多频GNSS单历元定位的需求。粗差阈值设定为3 m时，单历元PPP-WAR解在小城镇狭窄道路的水平定位误差RMS为0.41 m，达到了分米级定位精度，比广域伪距增强精密定位解和传统PPP解分别提高了53.9%和21.2%；3种方法在大都市高楼密布环境下的定位可用性均高于70%，在另外两种城市环境下的定位可用性均高于90%。粗差阈值0.5 m时，单历元PPP-WAR方法和传统PPP方法在小城镇狭窄道路环境中可用性依然可达~70%。单历元PPP-WAR方法受城市环境中4种典型地物（地下通道、高架桥、行道树和高楼）的影响最小。总之，在干扰因素多的城市复杂环境中单历元PPP-WAR方法更具优势，在干扰因素少的城市开阔环境中传统PPP方法更优。

关键词: 单点高精度定位, 多频多系统GNSS, 城市环境, 单历元, 宽巷模糊度固定

Abstract: High-precision applications, such as intelligent transportation and automated driving in urban environment, require a dynamic positioning accuracy at decimeter to centimeter level. However, GNSS performance (such as availability and positioning accuracy) in urban environments is strongly degraded by man-made and natural objects that obstruct satellite signals. Taking advantage of the available multi-frequency and multi-system GNSS (GPS/BDS/Galileo/QZSS) data, we adopt the new single-epoch PPP wide-lane ambiguity fixing method (PPP-WAR) for vehicle dynamic positioning. It is compared with the traditional PPP method and wide-area pseudorange enhanced precision positioning method in three typical urban environments with different complexity, including a road in metropolitan area, a narrow road in small town and an open road in industrial area. The integrity of triple-frequency GNSS data is currently up to 94% in urban area, which assures that single-epoch PPP-WAR method is applicable in complex urban area. It's shown that a positioning accuracy of 0.41 m in the horizontal direction is achieved using the single-epoch PPP-WAR method in the narrow road in town with the threshold of 3.0 m, which satisfies the accuracy requirement at decimeter level. The accuracy is largely improved by 53.9% and 21.2% compared with those of wide-area pseudorange enhanced precision positioning solutions and traditional PPP solutions, respectively. The availability of three methods in metropolitan area is higher than 70%, as well as more than 90% in small town and industrial area. The availability of PPP-WAR and traditional PPP can still reach ~70% with a strict threshold of 0.5 m. Four typical features (i.e. tunnels, crossovers, street trees and skyscrapers) in urban environment have the least impact on the performance of single-epoch PPP-WAR among the three methods. In sum, single-epoch PPP-WAR method has the best performance in complex urban environment with more obstructions, while traditional PPP method is the best in open urban environment with less obstructions.

Key words: high-precision point positioning, multi-frequency and multi-system GNSS, urban environment, single epoch, wide-lane ambiguity resolution

中图分类号:

P228

耿江辉, 常华, 郭将, 栗广才, 魏娜. 面向城市复杂环境的3种多频多系统GNSS单点高精度定位方法及性能分析[J]. 测绘学报, 2020, 49(1): 1-13.

GENG Jianghui, CHANG Hua, GUO Jiang, LI Guangcai, WEI Na. Three multi-frequency and multi-system GNSS high-precision point positioning methods and their performance in complex urban environment[J]. Acta Geodaetica et Cartographica Sinica, 2020, 49(1): 1-13.

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