BDS/GPS非差多频实时动态定位算法研究

Research on BDS/GPS undifferenced multi-frequency RTK algorithm

针对单个卫星导航系统实时动态定位(RTK)精度以及稳定性不足的问题,该文提出了一种基于非差观测误差的BDS/GPS融合卡尔曼滤波方法的多频实时动态定位方法,首先将双系统时空基准统一,计算参考站GPS双频和BDS三频的伪距及载波相位观测值非差误差改正数,然后流动站进行单颗卫星观测值的误差改正,基于非组合RTK定位模型,采用附加模糊度参数的卡尔曼滤波方法进行浮点解计算,固定高于设置模糊度解算截止高度角的卫星,解算实测超短基线与短基线的静态与低速动态数据。试验结果表明,双系统联合定位保证了卫星几何构型,该方法可以实现BDS/GPS双系统多频实时动态定位的联合解算并获得厘米级精度,流动站只需接收改正数即可定位,相比双差模式传输数据量更小,用户端定位算法简单。

Aiming at the problems that single satellite navigation system real-time kinematic(RTK) positioning accuracy and stability is not insufficient,an undifferenced RTK Kalman filter positioning method based on BDS/GPS was proposed in this paper.Firstly,the pseudorange and carrier-phase correction of undifferenced error on reference station were calcualted; then single satellite observations error was corrected by undifferenced correction on rover station,based on uncombined RTK model,short baseline static and dynamic data were solved with Kalman filter method which based on the additional ambiguity parameter.The results indicated that dual-system combined positioning confirmed the satellite geometry,realized real-time kinematic combined calculating with BDS/GPS dual-system multi-frequency and achieved the centimeter level of positioning accuracy.Rover station began to positioning by reveived correction number,the volume of data transmission in real time became smaller than double-difference mode,user side positioning algorithm was simple.