PPP/PPP-RTK新进展与北斗/GNSS PPP定位性能比较

doi:10.11947/j.AGCS.2020.20200328

摘要/Abstract

摘要： 首先简要回顾了精密单点定位（PPP）技术在最近几年的发展现状，重点总结了高采样率钟差实时快速估计、多系统组合PPP模糊度固定、多频GNSS PPP模型及其模糊度固定、PPP快速初始化、PPP-RTK等若干热点方向的最新研究进展。在此基础上，利用目前四大卫星导航系统（GPS、GLONASS、Galileo、北斗）最新的实际观测数据，全面比较分析了各系统及多系统组合PPP定位性能，重点给出了北斗二号+北斗三号PPP浮点解和固定解的定位精度、收敛时间和首次固定时间。结果表明：我国北斗导航卫星系统已经可以实现与其他导航卫星系统基本相当的PPP定位性能。北斗二号+北斗三号组合PPP的收敛时间/首次固定时间20~30 min；静态解的东、北、天方向定位精度在毫米到厘米级；动态解水平方向约5 cm，高程方向约7 cm；多系统组合可显著提高PPP定位精度、收敛时间和首次固定时间：固定解定位精度比浮点解在东、北、天方向分别提升了14.8%、12.0%和12.8%；相比单GPS，多系统组合PPP浮点解的收敛时间和固定解首次固定时间分别缩短了36.5%和40.4%。

关键词: 精密单点定位(PPP), 精密单点实时动态定位(PPP-RTK), 多频多系统GNSS, 北斗三号, 收敛时间, 首次固定时间(TTFF)

Abstract: This paper begins with a brief review of the current state of development of precise point positioning (PPP) in recent years, with a focus on summarizing the latest research progress of several hotspots such as real-time rapid estimation of high-rate satellite clocks, multi-GNSS PPP ambiguity resolution, multi-frequency GNSS PPP models and ambiguity resolution, rapid initialization of PPP and PPP-RTK. Then, the evaluation of positioning performance of single/multi-GNSS PPP with latest observation of GPS, GLONASS, Galileo and BDS, especially the positioning accuracy, convergence time and time to first fix of BDS-2+3, is given. The results show that:PPP performance of BeiDou Navigation Satellite System is comparable with other GNSS. The convergence time and time to first fix of BDS-2 and BDS-3 combined PPP are about 20~30 minutes, positioning accuracy of static PPP in east, north and up directions is at millimeter to centimeter level, while that of kinematic PPP reach 5 cm in horizontal and 7 cm in elevation direction. Multi-GNSS combination can improve positioning accuracy and shorten the convergence time and time to first fix significantly, the positioning accuracy of ambiguity-fixed solutions can be improved by 14.8, 12.0 and 12.8% in the east, north and up directions compared to float solutions, respectively. The convergence time and time to first fix of multi-GNSS PPP can be reduced by 36.5 and 40.4% compared to that of GPS PPP.

Key words: precise point positioning, PPP-RTK, multi-frequency and Multi-GNSS, BDS-3, convergence time, time to first fix

中图分类号:

P227

张小红, 胡家欢, 任晓东. PPP/PPP-RTK新进展与北斗/GNSS PPP定位性能比较[J]. 测绘学报, 2020, 49(9): 1084-1100.

ZHANG Xiaohong, HU Jiahuan, REN Xiaodong. New progress of PPP/PPP-RTK and positioning performance comparison of BDS/GNSS PPP[J]. Acta Geodaetica et Cartographica Sinica, 2020, 49(9): 1084-1100.

参考文献

[1] ZUMBERGE J F, HEFLIN M B, JEFFERSON D C, et al. Precise point positioning for the efficient and robust analysis of GPS data from large networks[J]. Journal of Geophysical Research, 1997, 102(B3):5005-5017.
[2] KOUBA J, HÉROUX P. Precise point positioning using IGS orbit and clock products[J]. GPS Solutions, 2001, 5(2):12-28. DOI:10.1007/PL00012883.
[3] 张小红, 李星星, 李盼. GNSS精密单点定位技术及应用进展[J]. 测绘学报, 2017, 46(10):1399-1407. DOI:10.11947/j.AGCS.2017.20170327. ZHANG Xiaohong, LI Xingxing, LI Pan. Review of GNSS PPP and its application[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(10):1399-1407. DOI:10.11947/j.AGCS.2017.20170327.
[4] 谭述森. 北斗卫星导航系统的发展与思考[J]. 宇航学报, 2008, 29(2):391-396. TAN Shusen. Development and thought of compass navigation satellite system[J]. Journal of Astronautics, 2008, 29(2):391-396.
[5] 杨元喜. 北斗卫星导航系统的进展、贡献与挑战[J]. 测绘学报, 2010, 39(1):1-6. YANG Yuanxi. Progress, contribution and challenges of Compass/BeiDou satellite navigation system[J]. Acta Geodaetica et Cartographica Sinica, 2010, 39(1):1-6.
[6] YANG Yuanxi, GAO Weiguang, GUO Shuren, et al. Introduction to BeiDou-3 navigation satellite system[J]. Navigation, 2019, 66(1):7-18. DOI:10.1002/navi.291.
[7] KE Mingxing, LV Jing, CHANG Jiang, et al. Integrating GPS and LEO to accelerate convergence time of precise point positioning[C]//Proceedings of 2015 International Conference on Wireless Communications & Signal. Nanjing, China:IEEE, 2015:1-5.
[8] GE Haibo, LI Bofeng, GE Maorong, et al. Initial assessment of precise point positioning with LEO enhanced global navigation satellite systems (LeGNSS)[J]. Remote Sensing, 2018, 10(7):984.
[9] LI Xingxing, MA Fujian, LI Xin, et al. LEO constellation-augmented multi-GNSS for rapid PPP convergence[J]. Journal of Geodesy, 2019, 93(5):749-764. DOI:10.1007/s00190-018-1195-2.
[10] 张小红, 马福建. 低轨导航增强GNSS发展综述[J]. 测绘学报, 2019, 48(9):1073-1087. DOI:10.11947/j.AGCS.2019.20190176. ZHANG Xiaohong, MA Fujian. Review of the development of LEO navigation-augmented GNSS[J]. Acta Geodaetica et Cartographica Sinica, 2019, 48(9):1073-1087. DOI:10.11947/j.AGCS.2019.20190176.
[11] ZHANG Xiaohong, LI Xingxing, GUO Fei. Satellite clock estimation at 1 Hz for realtime kinematic PPP applications[J]. GPS Solutions, 2010, 15(4):315-324.
[12] LIU Teng, ZHANG Baocheng, YUAN Yunbin, et al. An efficient undifferenced method for estimating multi-GNSS high-rate clock corrections with data streams in real time[J]. Journal of Geodesy, 2019, 93(9):1435-1456.
[13] DAI Zhiqiang, DAI Xiaolei, ZHAO Qile, et al. Improving real-time clock estimation with undifferenced ambiguity fixing[J]. GPS Solutions, 2019, 23(2):44.
[14] LIU Zhiqiang, YUE Dongjie, HUANG Zhangyu, et al. Performance of real-time undifferenced precise positioning assisted by remote IGS multi-GNSS stations[J]. GPS Solutions, 2020, 24(2):58.
[15] EL-MOWAFY A, DEO M, KUBO N. Maintaining real-time precise point positioning during outages of orbit and clock corrections[J]. GPS Solutions, 2017, 21(3):937-947.
[16] NIE Zhixi, GAO Yang, WANG Zhenjie, et al. An approach to GPS clock prediction for real-time PPP during outages of RTS stream[J]. GPS Solutions, 2018, 22(1):14. DOI:10.1007/s10291-017-0681-y.
[17] COLLINS P, BISNATH S, LAHAYE F, et al. Undifferenced GPS ambiguity resolution using the decoupled clock model and ambiguity datum fixing[J]. Navigation, 2010, 57(2):123-135.
[18] LAURICHESSE D, MERCIER F, BERTHIAS JP, et al. Integer ambiguity resolution on undifferenced GPS phase measurements and its application to PPP and satellite precise orbit determination[J]. Navigation, 2009, 56(2):135-149.
[19] GE M, GENDT G, ROTHACHER M, et al. Resolution of GPS carrier-phase ambiguities in precise point positioning (PPP) with daily observations[J]. Journal of Geodesy, 2008, 82(7):389-399.
[20] LI Pan, ZHANG Xiaohong, REN Xiaodong, et al. Generating GPS satellite fractional cycle bias for ambiguity-fixed precise point positioning[J]. GPS Solutions, 2016, 20(4):771-782.
[21] HU Jiahuan, ZHANG Xiaohong, LI Pan, et al. Multi-GNSS fractional cycle bias products generation for GNSS ambiguity-fixed PPP at Wuhan University[J]. GPS Solutions, 2020, 24(1):15. DOI:10.1007/s10291-019-0929-9.
[22] LOYER S, PEROSANZ F, MERCIER F, et al. Zero-difference GPS ambiguity resolution at CNES-CLS IGS analysis center[J]. Journal of Geodesy, 2012, 86(11):991-1003.
[23] GENG Jianghui, CHEN Xingyu, PAN Yuanxin, et al. PRIDE PPP-AR:an open-source software for GPS PPP ambiguity resolution[J]. GPS Solutions, 2019, 23(4):91. DOI:10.1007/s10291-019-0888-1.
[24] LIU Yanyan, SONG Weiwei, LOU Yidong, et al. GLONASS phase bias estimation and its PPP ambiguity resolution using homogeneous receivers[J]. GPS Solutions, 2017, 21(2):427-437. DOI:10.1007/s10291-016-0529-x.
[25] YI Wenting, SONG Weiwei, LOU Yidong, et al. Improved method to estimate undifferenced satellite fractional cycle biases using network observations to support PPP ambiguity resolution[J]. GPS Solutions, 2017, 21(3):1369-1378. DOI:10.1007/s10291-017-0616-7.
[26] KAMALI O, COCARD M, SANTERRE R. A sequential network approach for estimating GPS satellite phase biases at the PPP-AR producer-side[J]. GPS Solutions, 2018, 22(3):59.
[27] XIAO Guorui, LI Pan, SUI Lifen, et al. Estimating and assessing Galileo satellite fractional cycle bias for PPP ambiguity resolution[J]. GPS Solutions, 2019, 23(1):3.
[28] XIAO Guorui, SUI Lifen, HECK B, et al. Estimating satellite phase fractional cycle biases based on Kalman filter[J]. GPS Solutions, 2018, 22(3):82.
[29] YAO Yibin, PENG Wenjie, XU Chaoqian, et al. The realization and evaluation of mixed GPS/BDS PPP ambiguity resolution[J]. Journal of Geodesy, 2019, 93(9):1283-1295.
[30] WANG Jin, HUANG Guanwen, YANG Yuanxi, et al. FCB estimation with three different PPP models:equivalence analysis and experiment tests[J]. GPS Solutions, 2019, 23(4):93.
[31] LI Pan, ZHANG Xiaohong, GUO Fei. Ambiguity resolved precise point positioning with GPS and BeiDou[J]. Journal of Geodesy, 2017, 91(1):25-40. DOI:10.1007/s00190-016-0935-4.
[32] LIU Yanyan, YE Shirong, SONG Weiwei, et al. Integrating GPS and BDS to shorten the initialization time for ambiguity-fixed PPP[J]. GPS Solutions, 2017, 21(2):333-343.
[33] LIU Yanyan, LOU Yidong, YE Shirong, et al. Assessment of PPP integer ambiguity resolution using GPS, GLONASS and BeiDou (IGSO, MEO) constellations[J]. GPS Solutions, 2017, 21(4):1647-1659.
[34] LIU Teng, YUAN Yunbin, ZHANG Baocheng, et al. Multi-GNSS precise point positioning (MGPPP) using raw observations[J]. Journal of Geodesy, 2017, 91(3):253-268. DOI:10.1007/s00190-016-0960-3.
[35] LI Xingxing, LI Xin, YUAN Yongqiang, et al. Multi-GNSS phase delay estimation and PPP ambiguity resolution:GPS, BDS, GLONASS, Galileo[J]. Journal of Geodesy, 2018, 92(6):579-608. DOI:10.1007/s00190-017-1081-3.
[36] MONTENBRUCK O, HUGENTOBLER U, DACH R, et al. Apparent clock variations of the Block ⅡF-1(SVN62) GPS satellite[J]. GPS Solutions, 2012, 16(3):303-313. DOI:10.1007/s10291-011-0232-x.
[37] PAN Lin, ZHANG Xiaohong, GUO Fei, et al. GPS inter-frequency clock bias estimation for both uncombined and ionospheric-free combined triple-frequency precise point positioning[J]. Journal of Geodesy, 2019, 93(4):473-487.
[38] PAN Lin, ZHANG Xiaohong, LI Xingxing, et al. GPS inter-frequency clock bias modeling and prediction for real-time precise point positioning[J]. GPS Solutions, 2018, 22(3):76.
[39] LI Pan, JIANG Xinyuan, ZHANG Xiaohong, et al. GPS+Galileo+BeiDou precise point positioning with triple-frequency ambiguity resolution[J]. GPS Solutions, 2020, 24(3):78.
[40] GUO Fei, ZHANG Xiaohong, WANG Jinling, et al. Modeling and assessment of triple-frequency BDS precise point positioning[J]. Journal of Geodesy, 2016, 90(11):1223-1235.
[41] ELSOBEIEY M. Precise point positioning using triple-Frequency GPS measurements[J]. The Journal of Navigation, 2015, 68(3):480-492.
[42] SU Ke, JIN Shuanggen, JIAO Guoqiang. Assessment of multi-frequency global navigation satellite system precise point positioning models using GPS, BeiDou, GLONASS, Galileo and QZSS[J]. Measurement Science and Technology, 2020, 31(6):064008.
[43] LI Pan, ZHANG Xiaohong, GE Maorong, et al. Three-frequency BDS precise point positioning ambiguity resolution based on raw observables[J]. Journal of Geodesy, 2018, 92(12):1357-1369.
[44] LI Xingxing, LI Xin, LIU Gege, et al. Triple-frequency PPP ambiguity resolution with multi-constellation GNSS:BDS and Galileo[J]. Journal of Geodesy, 2019, 93(8):1105-1122.
[45] GENG Jianghui, GUO Jiang, MENG Xiaolin, et al. Speeding up PPP ambiguity resolution using triple-frequency GPS/BeiDou/Galileo/QZSS data[J]. Journal of Geodesy, 2020, 94(1):6.
[46] XIN Shaoming, GENG Jianghui, GUO Jiang, et al. On the choice of the third-frequency galileo signals in accelerating PPP ambiguity resolution in case of receiver antenna phase center errors[J]. Remote Sensing, 2020, 12(8):1315.
[47] LI Xingxing, LIU Gege, LI Xin, et al. Galileo PPP rapid ambiguity resolution with five-frequency observations[J]. GPS Solutions, 2019, 24(1):24.
[48] CAI Changsheng, GAO Yang. Modeling and assessment of combined GPS/GLONASS precise point positioning[J]. GPS Solutions, 2013, 17(2):223-236. DOI:10.1007/s10291-012-0273-9.
[49] LI Pan, ZHANG Xiaohong. Integrating GPS and GLONASS to accelerate convergence and initialization times of precise point positioning[J]. GPS Solutions, 2014, 18(3):461-471.
[50] LI Xingxing, GE Maorong, DAI Xiaolei, et al. Accuracy and reliability of multi-GNSS real-time precise positioning:GPS, GLONASS, BeiDou, and Galileo[J]. Journal of Geodesy, 2015, 89(6):607-635.
[51] LI Xingxing, ZHANG Xiaohong, REN Xiaodong, et al. Precise positioning with current multi-constellation Global Navigation Satellite Systems:GPS, GLONASS, Galileo and BeiDou[J]. Scientific Reports, 2015, 5(1):8328.
[52] WVBBENA G, SCHMITZ M, BAGGE A. PPP-RTK:Precise point positioning Using State-space representation in RTK Networks[C]//Proceedings of the 18th International Technical Meeting (ION GNSS 2005). Long Beach, CA:Long Beach Convention Center, 2005:13-16.
[53] 李星星. GNSS精密单点定位及非差模糊度快速确定方法研究[D]. 武汉:武汉大学, 2013. LI Xingxing. Rapid ambiguity resolution in GNSS precise point positioning[D]. Wuhan:Wuhan University, 2013.
[54] WILGAN K, HADAS T, HORDYNIEC P, et al. Real-time precise point positioning augmented with high-resolution numerical weather prediction model[J]. GPS Solutions, 2017, 21(3):1341-1353.
[55] XIANG Yan, GAO Yang, LI Yihe. Reducing convergence time of precise point positioning with ionospheric constraints and receiver differential code bias modeling[J]. Journal of Geodesy, 2020, 94(1):8.
[56] GENG Jianghui, SHI Chuang. Rapid initialization of real-time PPP by resolving undifferenced GPS and GLONASS ambiguities simultaneously[J]. Journal of Geodesy, 2017, 91(4):361-374. DOI:10.1007/s00190-016-0969-7.
[57] GENG Jianghui, LI Xiaotao, ZHAO Qile, et al. Inter-system PPP ambiguity resolution between GPS and BeiDou for rapid initialization[J]. Journal of Geodesy, 2019, 93(3):383-398.
[58] BANVILLE S, LANGLEY R B. Improving real-time kinematic PPP with instantaneous cycle-slip correction[C]//Proceedings of the 22nd International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS 2009). Savannah, GA:Savannah International Convention Center, 2009:2470-2478.
[59] GENG Jianghui, MENG Xiaolin, DODSON AH, et al. Rapid re-convergences to ambiguity-fixed solutions in precise point positioning[J]. Journal of Geodesy, 2010, 84(12):705-714. DOI:10.1007/s00190-010-0404-4.
[60] ZHANG Xiaohong, LI Xingxing. Instantaneous re-initialization in real-time kinematic PPP with cycle slips fixing[J]. GPS Solutions, 2012, 16(3):315-327. DOI:10.1007/s10291-011-0233-9.
[61] LI Pan, JIANG Xinyuan, ZHANG Xiaohong, et al. Kalman-filter-based undifferenced cycle slip estimation in real-time precise point positioning[J]. GPS Solutions, 2019, 23(4):99. DOI:10.1007/s10291-019-0894-3.
[62] ZHANG Xiaohong, ZHU Feng, ZHANG Yuxi, et al. The improvement in integer ambiguity resolution with INS aiding for kinematic precise point positioning[J]. Journal of Geodesy, 2019, 93(7):993-1010. DOI:10.1007/s00190-018-1222-3.
[63] LI Xingxing, ZHANG Xiaohong, GE Maorong. Regional reference network augmented precise point positioning for instantaneous ambiguity resolution[J]. Journal of Geodesy, 2011, 85(3):151-158. DOI:10.1007/s00190-010-0424-0.
[64] DE OLIVEIRA PS JR, MOREL L, FUND F, et al. Modeling tropospheric wet delays with dense and sparse network configurations for PPP-RTK[J]. GPS Solutions, 2017, 21(1):237-250.
[65] ZHANG Baocheng, CHEN Yongchang, YUAN Yunbin. PPP-RTK based on undifferenced and uncombined observations:theoretical and practical aspects[J]. Journal of Geodesy, 2018, 93(7):1011-1024.
[66] LI Linyang, LU Zhiping, CHEN Zhengsheng, et al. Parallel computation of regional CORS network corrections based on ionospheric-free PPP[J]. GPS Solutions, 2019, 23(3):70. DOI:10.1007/s10291-019-0864-9.
[67] LI Zhao, CHEN Wu, RUAN Rengui, et al. Evaluation of PPP-RTK based on BDS-3/BDS-2/GPS observations:a case study in Europe[J]. GPS Solutions, 2020, 24(2):38. DOI:10.1007/s10291-019-0948-6.
[68] NADARAJAH N, KHODABANDEH A, WANG Kan, et al. Multi-GNSS PPP-RTK:from large-to small-scale networks[J]. Sensors, 2018, 18(4):1078.
[69] OLIVARES-PULIDO G, TERKILDSEN M, ARSOV K, et al. A 4D tomographic ionospheric model to support PPP-RTK[J]. Journal of Geodesy, 2019, 93(9):1673-1683.
[70] ASARI K, KUBO Y, SUGIMOTO S. Design of GNSS PPP-RTK assistance system and its algorithms for 5G mobile networks[J]. Transactions of the Institute of Systems, Control and Information Engineers, 2020, 33(1):31-37. DOI:10.5687/iscie.33.31.