BDS3/INS紧组合单点定位测速性能分析

Performance analysis of BDS3/INS tightly coupled point positioning and speed measurement

为验证BDS-3在动态环境下的定位性能,利用BDS/INS紧组合定位技术,构建基于BDS3伪距及伪距率观测值的状态和量测模型,基于实测数据,以定位、测速精度为评价指标分别比较BDS2、BDS3、BDS2+3与INS紧组合定位、测速结果。实验结果表明:BDS3/INS伪距紧组合相比BDS2/INS紧组合定位精度提升58.0%,尤其在高程方面提升明显;测速精度提升6.0%,在动态环境下BDS3定位、测速性能优于BDS2。由于BDS3的加入进一步优化可视卫星几何分布,且BDS3具有更高的伪距测量精度,BDS2/BDS3/INS紧组合定位系统相比单系统紧组合有着更好的定位稳定性和可用性,其定位精度相较BDS2/INS紧组合提升45.6%,测速精度提升27.8%。

In order to verify the positioning performance of BDS-3 in dynamic environment,BDS/INS tightly coupled positioning technology is applied to constructing the state and measurement model based on BDS3 pseudo-range and pseudo-range rate observations.Based on the measured data,taking positioning and speed measurement accuracy as evaluation indicators,BDS2,BDS3,BDS2+3 and INS tightly coupled positioning and speed measurement results are compared.The result shows that the positioning accuracy of BDS3/INS pseudo-range tightly coupled is improved by 58.0%compared with BDS2/INS,especially in the elevation direction;the accuracy of the speed measurement is improved by 6.0%,the BDS3 positioning and speed measurement performance is excellent than BDS2 in the dynamic environment.Since the addition of BDS3 further optimizes the visual satellite geometry distribution and the BDS3 has higher pseudo-range measurement accuracy.The BDS2/BDS3/INS tightly coupled positioning system has better positioning stability and availability than the single system tightly coupled.The positioning accuracy is improved by 45.6%compared with the BDS2/INS tightly coupled system,the speed measurement accuracy is improved by 27.8%.