无人机低空机载GPS实时动态精密单点定位精度分析

Accuracy Analysis of Unmanned Aerial Vehicles Low-altitude Airborne Real-time GPS Precise Point Positioning

简要介绍了动态GPS精密单点定位(KPPP)原理,给出了无电离层模型数学模型及扩展Kalman滤波方程。利用IGS中心公布的Rapid、Final和RTS(实时)三种卫星星历进行高精度动态精密单点定位实验,比较和分析了3种卫星星历下的GPS摄站坐标。实验表明,使用Rapid和Final卫星星历计算摄站坐标的偏差在2 cm以内,使用RTS和Final卫星星历计算摄站坐标的最大偏差可达60 cm,在时效性要求较高的应急测绘、快速制图等工程应用中采用RTS卫星星历亦能满足应用需求,这对加快摄影测量数据的实时处理进程具有重要意义。

This paper briefly introduces the principle of dynamic GPS precise point positioning（ KPPP）,and gives the mathematical equations of the ionosphere-free model and the extended Kalman filter. High precision dynamic positioning experiments were conducted. The experiments were used the Rapid,Final and RTS ephemeris which were announced by IGS Center. Experimental results show that the maximum deviation of using Rapid and Final ephemeris for PPP are less than 2 cm. However the maximum deviation of using RTS and Final ephemeris for PPP are less than 60 cm. It is of great significance to accelerate the process of aerial photography work,especially in the timeliness engineering application like the emergency mapping,fast mosaic,etc,which can meet the application requirement.