摘要
为克服GPS-RTK定位在复杂环境下由于信号遮挡,可视卫星数量不足等原因无法获取厘米级高精度定位结果的不足,研究将超宽带(UWB)短距离高精度定位系统与实时动态(RTK)进行紧组合来提高复杂环境下动态定位的精度.依据UWB定位原理,给出了GPS-RTK/UWB紧组合数学模型,详细介绍了数据处理流程.滑轨动态实验结果表明,观测环境良好时,GPS-RTK/UWB紧组合与GPS相比能进一步提升固定率和动态定位精度;在截止高度角为40°的情况下,模糊度固定率从20.93%显著提升到93.96%,N、E方向定位精度提升至厘米级,U方向定位精度提升至分米级,仍能满足一定的工程需要.
To overcome the shortage that GPS-RTK can not obtain centimeter level high precision positioning results due to signal blockage,insufficient satellites number and other reasons under complicated environment,in this paper,the tightly combination of ultra-wide band(UWB)short-range high precision positioning system and RTK are studied to improve the precision of dynamic positioning under complicated environment.According to the principle of UWB,the mathematical model of GPS-RTK/UWB tight combination is presented,and the data processing flow is introduced in detail.The experimental results show that GPS-RTK/UWB tight combination can further improve the ambiguity fixed success rate and dynamic positioning precision compared with only GPS when the observation environment is well.In a complicated environment with a cut-off mask elevation angle of 40 degree,the ambiguity fixed success rate was significantly increased from 20.93%to 93.96%.The positioning precision of N and E directions are improved to centimeter level,and that of U directions is improved to decimeter level,which can still meet certain engineering measurement needs.
作者
王生亮
刘根友
高铭
曹士龙
肖恭伟
赵文浩
WANG Shengliang;LIU Genyou;GAO Ming;CAO Shilong;XIAO Gongwei;ZHAO Wenhao(State Key Laboratory of Geodesy and Earth’s Dynamics,Innovation Academy for Precision Measurement Science and Technology,Chinese Academy of Sciences,Wuhan 430077,China;College of Earth and Planetary Sciences,University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《全球定位系统》
CSCD
2021年第2期69-76,共8页
Gnss World of China
基金
国家重点研发计划项目“协同精密定位技术”(2016YFB0501900)
国家自然科学基金资助课题(41774017)。
