顾及载体航向约束的单站BDS-3相位测速模型

doi:10.11947/j.AGCS.2023.20220355

测绘学报 ›› 2023, Vol. 52 ›› Issue (6): 871-883.doi: 10.11947/j.AGCS.2023.20220355

• 大地测量学与导航 • 下一篇

顾及载体航向约束的单站BDS-3相位测速模型

王潜心¹, 胡超², 王泽杰¹

1. 中国矿业大学环境与测绘学院, 江苏徐州 221116;
2. 安徽理工大学空间信息与测绘工程学院, 安徽淮南 232001

收稿日期:2022-06-02 修回日期:2023-05-22 发布日期:2023-07-08
通讯作者: 胡超 E-mail:chaohu2014gnss@163.com
作者简介:王潜心(1980-),男,博士,教授,研究方向为卫星大地测量数据处理。E-mail:wqx@cumt.edu.cn
基金资助:
国家重点研发计划(2020YFA0713502);安徽省自然科学基金(2108085QD173);国家自然科学基金(41874039);江苏省自然科学基金(BK20191342);安徽高校自然科学研究项目(KJ2020A0310)

Single station velocity determination of BDS-3 carrier phase observations with the constraints of heading angle

WANG Qianxin¹, HU Chao², WANG Zejie¹

1. School of Environment and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China;
2. School of Spatial Informatics and Geomatics Engineering, Anhui University of Science and Technology, Huainan 232001, China

Received:2022-06-02 Revised:2023-05-22 Published:2023-07-08
Supported by:
The National Key Research and Development Program of China (No. 2020YFA0713502); The Anhui Natural Science Foundation (No. 2108085QD173); The National Natural Science Foundation of China (No. 41874039); The Jiangsu Natural Science Foundation (No. BK20191342); The Natural Science Foundation of Anhui Colleges (No. KJ2020A0310)

摘要/Abstract

摘要： 速度是载体运动状态的重要表征,高精度定速能力是BDS-3系统高性能服务的重要体现。针对传统单站历元间相位差分模型易受误差积累与观测环境影响等问题,本文提出了顾及载体航向约束的单站BDS-3相位测速模型。首先,在传统BDS-3历元间相位差分方程矢量分解的基础上,构建载体位移增量微分表达式,联合非差模型与微分方程综合估计载体速度;其次,利用载体水平面内位移矢量与航向角之间的相关性,建立顾及航向角约束的N与E方向位移参数约束条件;最后,综合3组独立的函数方程进行载体速度分量逐历元解算。通过静态与动态试验表明,静态条件下,BDS-3相位不同方向均可实现mm/s的测速精度,相较于传统历元间差分模型,E与N方向分别提升了62.9%和87.5%,且有效避免了水平方向测速误差的积累效应,但U方向由于缺少约束导致精度提升不显著。动态条件下,BDS-3相位测速在直线运动状态水平面内可获得mm/s级的测速精度,且E与N方向较传统历元间差分模型分别提升了35.2%和21.8%,而转向状态E、N、U方向测速精度分别为2.81、2.03和1.91 cm/s,较传统模型分别提升了41.2%、45.9%和56.2%。因此,本文提出的顾及航向约束的单站相位测速模型可有效地提升BDS-3系统测速性能。

关键词: BDS-3, 相位测速, 航向约束, 历元间差分, 单站测速模型

Abstract: Velocity information is one of key state representations of the vehicle motion. The high-accuracy and reliable velocity based on BDS-3 observation is the requirements of BDS-3 high performance. To overcome impacts of error accumulation and observation environment on the traditional time-difference carrier phase (TDCP) model, a single station velocity determination of BDS-3 carrier phase observations with the constraints of heading angle is proposed. Firstly, the differential function of the undifferenced observation equation is constructed beside the traditional BDS-3 TDCP model, which is combined to simultaneously estimate the displacement increment of two adjacent epochs. Secondly, the correlation between displacement increments of horizontal plane and heading angle is used to construct the constraints of N and E directions. Thirdly, the combination of three groups of independent function equations is used to obtain the incremental displacement of vehicle epoch by epoch. According to static and kinematic experiments, it is indicated that an accuracy with mm/s level of velocity determination can be achieved in different directions under BDS-3 phase observations. Compared with the traditional TDCP method, the proposed method can improve the velocity accuracy of E and N directions with 62.9% and 87.5%, respectively, in which the accuracy of U direction is not significantly improved or even slightly decreased. Meanwhile, under the kinematic condition, it is suggested that BDS-3 phase velocimetry can obtain the accuracy of mm/s level in the horizontal plane of linear motion, in which E and N direction are 35.2% and 21.8% better than the traditional TDCP model. Furthermore, the accuracy of E, N and U directions in change direction is 2.81, 2.03, 1.91 cm/s, respectively, which is 45.9%, 41.2% and 56.2% higher than that of the traditional model. Therefore, the proposed single station phase velocity determination model considering heading angle constraints can effectively improve the velocity determination performance of BDS-3 satellite system.

Key words: BDS-3, phase velocimetry, heading angle constraints, time-difference carrier phase, single station velocity determination

中图分类号:

P228

王潜心, 胡超, 王泽杰. 顾及载体航向约束的单站BDS-3相位测速模型[J]. 测绘学报, 2023, 52(6): 871-883.

WANG Qianxin, HU Chao, WANG Zejie. Single station velocity determination of BDS-3 carrier phase observations with the constraints of heading angle[J]. Acta Geodaetica et Cartographica Sinica, 2023, 52(6): 871-883.

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顾及载体航向约束的单站BDS-3相位测速模型

Single station velocity determination of BDS-3 carrier phase observations with the constraints of heading angle

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