基于卡尔曼滤波方法的WM手持机BDS/GPS单频RTK算法研究

Research on BDS/GPS Single Frequency RTK Algorithm of WM Handheld Based on Kalman Filtering Method

首先对基于卡尔曼滤波的单频RTK定位模型进行研究,介绍了基于RTCM的数据流解码过程,并通过实时数据分别对基于卡尔曼滤波方法的WM手持机BDS/GPS单频RTK定位算法进行计算。在静态条件下,该算法在东方向精度优于0.13 m、北方向优于0.14 m、高方向优于0.35 m;在动态环境下轨迹轮廓与实际地物符合较好,定位状态稳定。

This paper first studies the single-frequency RTK positioning model based on Kalman filtering,and introduces the data stream decoding process based on RTCM,and separately uses real-time data to the WM handheld BDS/GPS single frequency based on Kalman filtering method.Calculated by RTK positioning.Under static conditions,the accuracy of the algorithm is better than 0.13 m in the east direction,better than 0.14 m in the north direction,and better than 0.35 m in the high direction.Under the dynamic environment,the trajectory contours are in good agreement with the actual ground features,and the positioning status is stable.