北斗导航系统移动基准站差分定位算法

Differential positioning algorithm for mobile base station based on Bei Dou navigation system

针对复杂测量环境无法建立固定基准站及进行精密定位的问题,提出一种基于北斗导航系统的移动基准站差分定位算法,即基准站与流动站同时运动并实现高精度差分定位的算法。基于载波相位测量值,在动态短基线条件下,对数据进行站间和星间双差处理,消除接收机钟差以及其他公共误差。对多频观测值进行线性组合,构造双差载波相位超宽巷、宽巷、中巷及窄巷观测量。对上述观测量进行窗口滑动均值滤波并采用逐级模糊度确定法固定整周模糊度,即沿着从超宽巷到窄巷的顺序依次求解整周模糊度。为验证算法有效性,设计基于北斗导航系统的轨道外部几何参数检测仪进行实验,实现毫米级静态相对定位精度和厘米级RTK相对定位精度。

Aiming at the problem that fixed measurement environments cannot establish a fixed base station and thus cannot carry out precisepositioning,a differential positioning algorithm for mobile base station based on BeiDou navigation system was proposed,which means achievinghigh-precise differential positioning while the base station and the rover both moving.Based on the carrier phase measurement,under the conditionof dynamic short baseline,the datum were inter-station and inter-satellite double-difference processed,eliminating receiver clock error and othercommon errors.Based on the linear combination of multi-frequency measurement,the observation of the super-wide lane,the wide lane,the middlelane and the narrow lane was obtained,the window-moving average filter was carried out and the ambiguities were fixed by the stepwise ambiguitydetermination method,that is,along the order from the super-wide lane to the narrow lane to solve the ambiguity.In order to verify the effectivenessof the algorithm,a verification experiment of the external geometric parameter detector based on the BeiDou navigation system was designed torealize the static relative positioning accuracy of millimeter and the RTK relative positioning accuracy of centimeter.