低成本高精度GNSSPPK在无人机上的应用

Application of Low-cost and High-accuracy GNSS PPK in UAV

随着无人机平台的轻型化、小型化，其载荷受到很大限制。目前大多数微小型无人机搭载单频GNSS系统进行单点定位的精度为10m量级，只能起到导航的作用，不能满足无人机高精度定位的需求，而少数带有RTK功能的无人机又受到价格的制约难以普及。本文采用U—BLOX的定位模块NEO—M8T组成一整套轻型、低成本PPK定位系统，并采用融合BDS／GPS单频数据定位算法和基于LAMBDA算法的模糊度解算提高定位精度。通过试验，地面静态定位精度可以达到厘米级，机载动态定位固定解比率大大提高，同时整套定位系统价格在千元以内，机载端的重量小于100g。因此，该定位系统可以在低空摄影测量、精密农业等领域普及使用。

As UAV platform becomes lighter and smaller, the payload size is limited strictly. Since the single point positio- ning accuracy of onboard single frequency GNSS system is at the 10m level, most micro UAVs can only navigate but not satisfy the requirement of high accuracy positioning, and a smaller part of them with RTK function are too expensive to popularize. In this pa- per, the positioning module NEO-M8T of U-BLOX is adopted to constitute a set of lightweight, low-cost PPK positioning system, and the BDS/GPS single frequency positioning algorithm and ambiguity calculation method based on LAMBDA are combined to im- prove the positioning accuracy. Through the experiment, the ground static positioning accuracy can achieve centimeter level, and the airborne dynamic positioning fixed solution ratio is greatly increased. Besides, the price of the whole positioning system is within one thousand yuan, and the weight of airborne rover station is less than 100g. Therefore, the positioning system can be widely used in low altitude photograrmnetry, precision agriculture and other fields.