GNSS非差非组合数据处理与PPP-RTK高精度定位

doi:10.11947/j.AGCS.2022.20220134

测绘学报 ›› 2022, Vol. 51 ›› Issue (7): 1225-1238.doi: 10.11947/j.AGCS.2022.20220134

GNSS非差非组合数据处理与PPP-RTK高精度定位

袁运斌¹, 侯鹏宇^1,2, 张宝成^1,3

1. 中国科学院精密测量科学与技术创新研究院大地测量与地球动力学国家重点实验室, 湖北武汉 430071;
2. 中国科学院大学地球与行星科学学院, 北京 100049;
3. 中国电子科技集团公司第五十四研究所卫星导航系统与装备技术国家重点实验室, 河北石家庄 050081

收稿日期:2022-02-25 修回日期:2022-05-27 发布日期:2022-08-13
通讯作者: 张宝成 E-mail:b.zhang@whigg.ac.cn
作者简介:袁运斌(1971-),男,博士,研究员,研究方向为卫星导航大气延迟改正、精密定位定轨。E-mail:yybgps@whigg.ac.cn
基金资助:
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”

GNSS undifferenced and uncombined data processing and PPP-RTK high-precision positioning

YUAN Yunbin¹, HOU Pengyu^1,2, ZHANG Baocheng^1,3

1. State Key Laboratory of Geodesy and Earth's Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430071, China;
2. College of Earth and Planetary Sciences, University of Chinese Academy of Sciences, Beijing 100049, China;
3. State Key Laboratory of Satellite Navigation System and Equipment Technology, The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang 050081, China

Received:2022-02-25 Revised:2022-05-27 Published:2022-08-13
Supported by:
The National Natural Science Foundation of China (No. 42022025)|The National Key Research and Development Program of China (No. 2016YFB0501900)|LU JIAXI International team program supported by the K.C. Wong Education Foundation and CAS

摘要/Abstract

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。

关键词: GNSS, 非差非组合数据, 数据处理, 消秩亏, PPP-RTK, 函数模型

Abstract: 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%.

Key words: GNSS, undifferenced and uncombined data, data processing, rank-deficiency elimination, PPP-RTK, functional model

中图分类号:

P228

袁运斌, 侯鹏宇, 张宝成. GNSS非差非组合数据处理与PPP-RTK高精度定位[J]. 测绘学报, 2022, 51(7): 1225-1238.

YUAN Yunbin, HOU Pengyu, ZHANG Baocheng. GNSS undifferenced and uncombined data processing and PPP-RTK high-precision positioning[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(7): 1225-1238.

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GNSS非差非组合数据处理与PPP-RTK高精度定位

GNSS undifferenced and uncombined data processing and PPP-RTK high-precision positioning

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