非差非组合PPP-RTK:模型算法、终端样机与实测结果

doi:10.11947/j.AGCS.2022.20210465

测绘学报 ›› 2022, Vol. 51 ›› Issue (8): 1725-1735.doi: 10.11947/j.AGCS.2022.20210465

非差非组合PPP-RTK:模型算法、终端样机与实测结果

张宝成¹, 柯成^1,2, 查九平¹, 侯鹏宇^1,2, 刘腾¹, 袁运斌¹, 李子申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. 中国科学院空天信息创新研究院, 北京 100094

收稿日期:2021-08-17 修回日期:2021-12-17 发布日期:2022-09-03
作者简介:张宝成(1985-),男,研究员,研究方向为多频多模GNSS非差非组合PPP-RTK。E-mail:b.zhang@whigg.ac.cn
基金资助:
国家自然科学基金(42022025;41774042);湖北省重点研发计划(2020BHB014)

Undifferenced and uncombined PPP-RTK:algorithmic models,prototype terminals and field-test results

ZHANG Baocheng¹, KE Cheng^1,2, ZHA Jiuping¹, HOU Pengyu^1,2, LIU Teng¹, YUAN Yunbin¹, LI Zishen³

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. Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100049, China

Received:2021-08-17 Revised:2021-12-17 Published:2022-09-03
Supported by:
The National Natural Science Foundation of China (Nos.42022025;41774042);The Key Research and Development Plan of Hubei Province (No.2020BHB014)

摘要/Abstract

摘要： 智能驾驶、精密农业和无人机等新兴行业要求全球导航卫星系统(GNSS)提供更加快速、准确的导航定位服务。非差非组合PPP-RTK融合了精密单点定位(PPP)和实时动态定位(RTK)两者的优势,能灵活处理多频多模数据并实现区域广覆盖的快速高精度定位。然而,PPP-RTK仍处于技术研发阶段,产业化应用尚未完全成型。本文从理论到实践,构建了码分多址和频分多址非差非组合PPP-RTK模型,开发了相应的实时解算软件,并研制了一款终端样机。基于平均站间距为154 km的京津冀参考网估计的精密改正产品,将终端样机分别搭载在无人机、农机和跑车上,开展了实时动态定位试验。试验结果表明,PPP-RTK终端样机在3个场景下的模糊度首次固定时间分别为5、2和7 s,模糊度固定成功率分别为99.79%、99.14%和98.96%,水平和高程定位精度分别在1 cm和4 cm左右。试验结果证明了自研PPP-RTK终端样机能提供连续、可靠、高精度的定位服务。

关键词: 全球导航卫星系统, 非差非组合, 实时, PPP-RTK, 终端样机

Abstract: The emerging industries like intelligent driving,precision agriculture and the drones require the global navigation satellite system (GNSS) to provide faster and more accurate positioning services.The undifferenced and uncombined PPP-RTK combines the advantages of precise point positioning (PPP) and those of real-time kinematic (RTK) technique,enabling one to process flexibly the multi-frequency and multi-GNSS data,and achieve rapidly the high-precision positioning with wide-area coverage.However,PPP-RTK is still in the stage of technology research and development;its industrial application has not yet completely formed.From theory to practice,this study formulates the code and frequency division multiple access undifferenced and uncombined PPP-RTK models,develops the corresponding real-time processing software,and designs a set of prototype terminals.Based on the precise corrections estimated by the Beijing-Tianjin-Hebei reference network with the inter-station distance of 154 km,we mount these terminals on a drone,an agricultural tractor and a car to carry out real-time positioning experiments.The results show that the times to first fix for three scenarios are 5 s,2 s and 7 s,the success rates of ambiguity resolution are 99.79%,99.14%,and 98.96%,respectively.The horizontal and vertical positioning accuracy are about 1 cm and 4 cm for all three scenarios.The results demonstrate that our PPP-RTK implementations can provide continuous,reliable and accurate positioning services.

Key words: GNSS, undifferenced and uncombined, real-time, PPP-RTK, prototype terminal

中图分类号:

P228

张宝成, 柯成, 查九平, 侯鹏宇, 刘腾, 袁运斌, 李子申. 非差非组合PPP-RTK:模型算法、终端样机与实测结果[J]. 测绘学报, 2022, 51(8): 1725-1735.

ZHANG Baocheng, KE Cheng, ZHA Jiuping, HOU Pengyu, LIU Teng, YUAN Yunbin, LI Zishen. Undifferenced and uncombined PPP-RTK:algorithmic models,prototype terminals and field-test results[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(8): 1725-1735.

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非差非组合PPP-RTK:模型算法、终端样机与实测结果

Undifferenced and uncombined PPP-RTK:algorithmic models,prototype terminals and field-test results

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