基于城市CORS的快速单点定位增强服务与应用

doi:10.11947/j.AGCS.2024.20240077

测绘学报 ›› 2024, Vol. 53 ›› Issue (9): 1706-1714.doi: 10.11947/j.AGCS.2024.20240077

• 精密工程测量 • 上一篇

基于城市CORS的快速单点定位增强服务与应用

刘洋¹^,²^,³(), 杨光¹^,³(), 程晓晖¹^,², 张啸¹

^1.广州市城市规划勘测设计研究院，广东　广州　510060
^2.广州市资源规划和海洋科技协同创新中心，广东　广州　510060
^3.广东省城市感知与监测预警企业重点实验室，广东　广州　510060

收稿日期:2024-02-22 发布日期:2024-10-16
通讯作者: 杨光 E-mail:liuyang_052@163.com;ygmail2000@163.com
作者简介:刘洋（1981—），男，博士，研究方向为测绘地理信息、国土空间治理、韧性城市建设。E-mail：liuyang_052@163.com
基金资助:
广东省重点领域研发计划(2020B0101130009);广东省城市感知与监测预警企业重点实验室基金(2020B121202019);广州市资源规划和海洋科技协同创新中心项目(2023B04J0301)

Rapid single point positioning enhancement service and application based on urban CORS

Yang LIU¹^,²^,³(), Guang YANG¹^,³(), Xiaohui CHENG¹^,², Xiao ZHANG¹

^1.Guangzhou Urban Planning & Design Survey Research Institute, Guangzhou 510060, China
^2.Collaborative Innovation Center for Natural Resources Planning and Marine Technology of Guangzhou, Guangzhou 510060, China
^3.Guangdong Enterprise Key Laboratory for Urban Sensing, Monitoring and Early Warning, Guangzhou 510060, China

Received:2024-02-22 Published:2024-10-16
Contact: Guang YANG E-mail:liuyang_052@163.com;ygmail2000@163.com
About author:LIU Yang (1981—), male, PhD, majors in surveying and mapping geographic information, territorial spatial governance and resilient urban construction. E-mail: liuyang_052@163.com
Supported by:
Guangdong Provincial Key Field Research and Development Program(2020B0101130009);Guangdong Key Laboratory Fund Project for Urban Sensing, Monitoring and Early Warning(2020B121202019);Project of Collaborative Innovation Center for Natural Resources Planning and Marine Technology of Guangzhou(2023B04J0301)

摘要/Abstract

摘要：

智慧城市建设中CORS位置服务的海量、隐私及高可靠性成为重要发展趋势。本文介绍了基于PPP-RTK技术体系的城市CORS增强定位服务，推导了城市CORS增强精密单点定位的公式，给出了城市CORS增强定位参数的可估形式及其在用户端的适用方法。结合广州CORS实时数据，验证了PPP-RTK服务的有效性。试验表明PPP-RTK用户端平面首历元即可收敛到厘米级，高程7个历元左右可收敛到厘米级，并且PPP-RTK增强定位参数SSR2OSR与短基线RTK性能大体相当，可支撑海量用户的监测需求。车载试验全程保持优于0.5 m车道级的三维精度，表明PPP-RTK定位能够满足多元化高可靠性定位。

关键词: CORS, BDS, 精密单点定位, 地面增强

Abstract:

In the realm of smart city development, the scalability, privacy, and heightened reliability of CORS (continuously operating reference station) location services have emerged as pivotal focal points. This paper presents an innovative urban CORS augmented positioning service leveraging PPP-RTK (precise point positioning-real-time kinematic) technology. It delineates the formulaic methodology for achieving enhanced precision single-point positioning within urban environments, elucidating the estimable parameters essential for urban CORS augmented positioning and their practical implementation on client platforms. Through integration with real-time data sourced from the Guangzhou CORS network, the efficacy of the PPP-RTK service is rigorously evaluated. Test results demonstrate that the initial epoch of the PPP-RTK client plane rapidly converges to centimeter-level accuracy, with vertical elevation convergence achieved within approximately seven epochs. Furthermore, the performance of the enhanced positioning parameter SSR2OSR (state space representation to observation space representation) in PPP-RTK is found to be comparable to that of short baseline RTK solutions, thus substantiating its capacity to cater to the monitoring requirements of a substantial user base. On-board experiments exhibit superior 3D accuracy, surpassing lane-level precision by a margin of less than 0.5 meters, underscoring the capability of PPP-RTK positioning to fulfill the stringent reliability criteria essential for various positioning applications.

Key words: CORS, BDS, precise single point positioning, ground enhancement system

中图分类号:

P258

刘洋, 杨光, 程晓晖, 张啸. 基于城市CORS的快速单点定位增强服务与应用[J]. 测绘学报, 2024, 53(9): 1706-1714.

Yang LIU, Guang YANG, Xiaohui CHENG, Xiao ZHANG. Rapid single point positioning enhancement service and application based on urban CORS[J]. Acta Geodaetica et Cartographica Sinica, 2024, 53(9): 1706-1714.

图/表 13

表1

表2

图1

图2

表3

图3

表4

图4

表5

图5

图6

表6

表7

参考文献 21

[1]	唐斯斯, 张延强, 单志广, 等. 我国新型智慧城市发展现状、形势与政策建议[J]. 电子政务, 2020(4):70-80.
	TANG Sisi, ZHANG Yanqiang, SHAN Guangzhi, et al. The development status, situation, and policy suggestions for China's new smart city[J]. E-Government, 2020(4):70-80.
[2]	杨元喜, 汤静. 智慧城市与北斗卫星导航系统[J]. 卫星应用, 2014(2):7-10.
	YANG Yuanxi, TANG Jing. Smart cities and the beidou navigation satellite system[J]. Satellite Application, 2014 (2):7-10.
[3]	杨元喜, 王建荣. 泛在感知与航天测绘[J]. 测绘学报, 2023, 52(1):1-7. DOI: 10.11947/j.AGCS.2023.20220405.
	YANG Yuanxi, WANG Jianrong. Ubiquitous perception and space mapping[J]. Acta Geodaetica et Cartographica Sinica, 2023, 52(1):1-7. DOI: 10.11947/j.AGCS.2023.20220405.
[4]	姜卫平. 卫星导航定位基准站网的发展现状、机遇与挑战[J]. 测绘学报, 2017, 46(10):1379-1388. DOI: 10.11947/j.AGCS.2017.20170424.
	JIANG Weiping. Challenges and opportunities of GNSS reference station network[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(10):1379-1388. DOI: 10.11947/j.AGCS.2017.20170424.
[5]	舒宝, 刘晖, 王利, 等. 区域参考站网支撑的PPP和RTK一体化服务及其性能[J]. 测绘学报, 2022, 51(9):1870-1880. DOI: 10.11947/j.AGCS.2022.20210179.
	SHU Bao, LIU Hui, WANG Li, et al. PPP and RTK integrated service method and performance based on regional reference station network[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(9):1870-1880. DOI: 10.11947/j.AGCS.2022.20210179.
[6]	YANG Guang, HE Xiufeng, CHEN Yongqi. Integrated GPS and pseudolite positioning for deformationmonitoring[J]. Survey Review, 2010, 42(315):72-81.
[7]	张小红, 张元泰, 朱锋. 城市复杂场景下GNSS定位的因子图优化方法及其抗差性能分析[J]. 武汉大学学报(信息科学版), 2023, 48(7):1050-1057.
	ZHANG Xiaohong, ZHANG Yuantai, ZHU Feng. Factor graph optimization for urban environment GNSS positioning and robust performance analysis[J]. Geomatics and Information Science of Wuhan University, 2023, 48(7):1050-1057.
[8]	党亚民, 蒋涛, 杨元喜, 等. 中国大地测量研究进展(2019—2023)[J]. 测绘学报, 2023, 52(9):1419-1436. DOI: 10.11947/j.AGCS.2023.20230343.
	DANG Yamin, JIANG Tao, YANG Yuanxi, et al. Research progress of geodesy in China(2019—2023)[J]. Acta Geodaetica et Cartographica Sinica, 2023, 52(9):1419-1436. DOI: 10.11947/j.AGCS.2023.20230343.
[9]	SNAY R A, SOLER T. Continuously operating reference station (CORS): history, applications, and future enhancements[J]. Journal of Surveying Engineering, 2008, 134(4):95-104.
[10]	STURZE A, MERVART L, SOHNE W, et al. Real-time PPP using open CORS networks and RTCM standards[C]//Proceedings of 2012 PPP-RTK Symposium. Frankfurt: [s.n.], 2012: 12-13.
[11]	姚宜斌, 冯鑫滢, 彭文杰, 等. 基于CORS的区域大气增强产品对实时PPP的影响[J]. 武汉大学学报(信息科学版), 2019, 44(12):1739-1748.
	YAO Yibin, FENG Xinying, PENG Wenjie, et al. Local atmosphere augmentation based on CORS for real-time PPP[J]. Geomatics and Information Science of Wuhan University, 2019, 44(12):1739-1748.
[12]	ZHANG Baocheng, HOU Pengyu, ZHA Jiuping, et al. PPP-RTK functional models formulated with undifferenced and uncombined GNSS observations[J]. Satellite Navigation, 2022, 3(1):3.
[13]	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. DOI: 10.11947/j.AGCS.2020.20200328.
	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(09):1084-1100. DOI: 10.11947/j.AGCS.2020.20200328.
[14]	WÜBBENA 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 of the Satellite Division of the Institute of Navigation. [S.l.]: ION GNSS. 2005: 2584-2594.
[15]	HIROKAWA R, FERNÁNDEZ-HERNÁNDEZ I, REYNOLDS S. PPP/PPP-RTK open formats: overview, comparison, and proposal for an interoperable message[J]. Navigation, 2021, 68(4):759-778.
[16]	ZHANG Baocheng, TEUNISSEN P J G, ODIJK D. A novel un-differenced PPP-RTK concept[J]. Journal of Navigation, 2011, 64(S1):S180-S191.
[17]	查九平, 张宝成, 刘腾, 等. BDS-3 PPP-B2b精密轨道辅助非差非组合PPP-RTK[J]. 测绘学报, 2023, 52(9):1449-1459. DOI: 10.11947/j.AGCS.2023.20220259.
	ZHA Jiuping, ZHANG Baocheng, LIU Teng, et al. Undifferenced and uncombined PPP-RTK aided by BDS-3 PPP-B2b precise orbits[J]. Acta Geodaetica et Cartographica Sinica, 2023, 52(9):1449-1459. DOI: 10.11947/j.AGCS.2023.20220259.
[18]	TEUNISSEN P. Zero order design: generalized inverses, adjustment, the datum problem and S-transformations[M]//Optimization and Design of Geodetic Networks. Berlin: Springer Berlin Heidelberg, 1985: 11-55.
[19]	程晓晖, 欧海平, 刘业光. 广州市CORS系统优化整合研究[J]. 测绘地理信息, 2018, 43(3):17-19.
	CHENG Xiaohui, OU Haiping, LIU Yeguang. Research on optimization and integration of CORS system in Guangzhou[J]. Journal of Geomatics, 2018, 43(3):17-19.
[20]	LI Wen, LI Zishen, WANG Ningbo, et al. A satellite-based method for modeling ionospheric slant TEC from GNSS observations: algorithm and validation[J]. GPS Solutions, 2021, 26(1):14.
[21]	ZHA Jiuping, ZHANG Baocheng, LIU Teng, et al. Ionosphere-weighted undifferenced and uncombined PPP-RTK: theoretical models and experimental results[J]. GPS Solutions, 2021, 25(4):135.

参数	数学表达式	备注
接收机位置	x_u
接收机钟差
接收机相位偏差
接收机码偏差		j≥1；s≥1
模糊度		j≥1；s≥2
基准(非可估参数)	d_u，1，d_u，2，	j≥1；s≥1

参数	数学表达式	备注
天顶对流层延迟增量	Δτ_v=τ_v－τ₁	r≥1
卫星钟差		s≥1
电离层延迟		r≥1；s≥1
卫星相位偏差		j≥1；s≥1
卫星码偏差		j>2

项目	服务端与用户端
频率	GPS L1&L2、BDS B1I &B3I
观测值	双频码、相位观测值
观测数据采样率/s	15
参数估计策略	Kalman滤波
观测值加权策略	高度角加权
先验观测值精度/m	伪距为0.3，相位为0.003
对流层延迟	UNB3M模型经验改正干、湿分量模型随机游走估计残余对流层湿延迟随机游走过程噪声设置为10^－8 m²/30 s
周跳探测	DIA (detection，identification and adaptation)
相位模糊度	先弧段常数估计，再部分模糊度固定
其他改正	接收机PCO/PCV改正、卫星PCO/PCV改正、相位缠绕、固体潮、海潮、极潮
电离层延迟	服务端白噪声估计、用户端采用产品改正
卫星截止高度角/(°)	10
坐标	服务端先验值改正、用户端白噪声估计

站点	GPS DSTEC			BDS－3 DSTEC
站点	04－22	04－23	04－24	04－22	04－23	04－24
YOHE	0.020	0.016	0.013	0.028	0.011	0.011
XJIE	0.031	0.070	0.028	0.032	0.020	0.020
GDFG	0.025	0.078	0.019	0.030	0.018	0.017
LVTI	0.019	0.033	0.013	0.021	0.015	0.011
YHGT	0.023	0.079	0.018	0.026	0.016	0.013
SPGT	0.014	0.035	0.007	0.017	0.008	0.008
DLSH	0.020	0.058	0.017	0.022	0.012	0.012
ZHGT	0.026	0.077	0.025	0.022	0.013	0.016
ZSGT	0.025	0.042	0.015	0.021	0.012	0.012
HELI	0.025	0.058	0.023	0.024	0.014	0.016
SDGT	0.017	0.026	0.014	0.021	0.012	0.011
SHAT	0.014	0.014	0.010	0.015	0.009	0.008
SHJU	0.018	0.037	0.011	0.019	0.009	0.009
SSGT	0.021	0.022	0.010	0.026	0.011	0.011
HUAD	0.020	0.067	0.020	0.025	0.013	0.014
QYGT	0.021	0.020	0.014	0.025	0.012	0.013
平均	0.021	0.046	0.016	0.023	0.013	0.013

日期	定位误差/cm			TTFF/历元
日期	E	N	U	TTFF/历元
2023－04－21	1.4	1.2	4.1	7
2023－04－22	1.5	1.4	3.6	8
2023－04－23	1.0	0.7	2.6	7
2023－04－24	1.2	0.9	3.8	7
2023－04－26	0.6	0.7	2.9	8
2023－04－28	0.9	0.7	2.5	7
2023－04－29	1.2	1.1	3.4	7
2023－04－30	1.2	1.2	3.0	7

基于城市CORS的快速单点定位增强服务与应用

Rapid single point positioning enhancement service and application based on urban CORS

RichHTML

PDF

可视化

摘要/Abstract

引用本文

使用本文

图/表 13

参考文献 21

相关文章 15

编辑推荐

Metrics

本文评价

定位模式	RMS
定位模式	E	N	U
PPP－RTK	8.26	6.36	26.88
PPP－RTK/INS	5.99	4.87	16.11

项目	总体结果
项目	定位状态	所占比例/(%)
定位情况统计	单点解	0.10
	差分解	12.2
	固定解	45.6
	浮点解	33.7
	惯导解	8.40
历元数量	7105
线路总长/km	19.2

[1]	施闯, 宋伟, 郑福, 王浩源, 王玉琢, 张爱敏, 唐卫明. 北斗实时百皮秒级单差时频同步方法[J]. 测绘学报, 2024, 53(5): 869-878.
[2]	宋小勇, 杨元喜, 毛悦, 阮仁桂, 王龙. Schmidt算法在导航卫星自主定轨中的应用[J]. 测绘学报, 2024, 53(5): 879-888.
[3]	贺添, 孟国杰, 吴伟伟, 苏小宁, 赵国强, 魏聪敏, 董志华. 中国地震科学实验场BDS-3定位精度和地壳运动初步分析[J]. 测绘学报, 2024, 53(4): 653-665.
[4]	林英宗, 罗小敏, 杜俊锋. 高纬度地区PPP接收机跟踪噪声随机模型拟合改进[J]. 测绘学报, 2024, 53(4): 666-676.
[5]	胡超, 王潜心. 顾及BDS-3星钟约束的GNSS超快速轨道钟差解算方法[J]. 测绘学报, 2024, 53(3): 413-424.
[6]	曲伟菁, 黄勇, 徐君毅, 孙淑贤, 周善石, 杨宇飞, 何冰, 胡小工. 星地SLR和星间链路的BDS-3卫星精密定轨[J]. 测绘学报, 2023, 52(9): 1437-1448.
[7]	查九平, 张宝成, 刘腾, 张啸, 侯鹏宇, 袁运斌, 李子申. BDS-3 PPP-B2b精密轨道辅助非差非组合PPP-RTK[J]. 测绘学报, 2023, 52(9): 1449-1459.
[8]	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.
[9]	刘天骏, 陈渠森, 姜卫平, 陈华, 夏凤雨, 范曹明. 地影期间卫星姿态四元数产品对北斗精密单点定位的影响分析[J]. 测绘学报, 2023, 52(4): 550-558.
[10]	曾辉艳, 艾伦, 成洁, 耿鹏飞, 张如伟, 陈陌寒, 孙树杰, 李明哲. BDS-2和BDS-3系统间伪距分层及其技术对策[J]. 测绘学报, 2023, 52(4): 596-604.
[11]	郭仕伟, 施闯, 范磊, 魏娜, 张涛, 方欣颀, 周凌昊. 北斗三号地心运动反演方法与结果[J]. 测绘学报, 2023, 52(12): 2054-2065.
[12]	袁运斌, 刘帅, 潭冰峰. 基于钟差解耦的GNSS精密单点定位模糊度固定模型及效果分析[J]. 测绘学报, 2022, 51(8): 1669-1679.
[13]	刘根友, 高铭, 尹翔飞, 肖恭伟, 吕栋, 王生亮, 王润. 基于GNSS精密单点定位的高精度云平台授时[J]. 测绘学报, 2022, 51(8): 1736-1743.
[14]	周锋, 杨宇泽, 王磊, 徐天河. GNSS载波相位整数等变估计及其PPP性能提升算法[J]. 测绘学报, 2022, 51(8): 1779-1786.
[15]	施闯, 辜声峰, 楼益栋, 郑福, 宋伟, 张东, 毛飞宇. 广域实时精密定位与时间服务系统[J]. 测绘学报, 2022, 51(7): 1206-1214.