复杂测量环境下BDS-3/GPS组合RTK测量性能分析

Performance analysis of BDS-3/GPS combined RTK surveying under complex measurement environment

为比较分析城市道路观测环境下BDS-3/GPS组合RTK测量性能,探讨一种基于卡尔曼滤波算法的RTK测量模型。在统一BDS-3/GPS组合RTK测量时空基准的基础上,建立RTK观测方程模型,利用LAMBDA算法快速确定双差整周模糊度,并基于卡尔曼滤波算法求解RTK观测方程模型测量结果;基于Visual Studio 2020平台,运用C/C++编程语言,设计和开发RTK数据处理软件(KalRTK),并比较分析BDS-3/GPS组合RTK测量结果。通过城市道路实测数据分析结果表明,BDS-3系统沿东西向跟踪卫星能力要略弱于GPS系统;BDS-3/GPS组合RTK测量的平面精度与高程精度均优于1.6cm,点位精度优于2.2cm,与GPS双频RTK测量精度基本相当,但优于BDS-3双频RTK测量精度。

In order to compare and analyze the performance of BDS-3/GPS combined RTK surveying under urban road observation environment,a RTK surveying model is discussed based on Kalman filter algorithm.The RTK observation equitation model is established via the unified spatio-temporal datum of BDS-3/GPS combined RTK surveying,and double-difference integer ambiguity is fast resolved using LAMBDA algorithm and the surveying results of RTK observation equation model is obtained based on Kalman filtering algorithm.A RTK data processing software,named as KalRTK,is developed based on Visual Studio 2020 platform using C/C++programming language,and the results of BDS-3/GPS combined RTK surveying is compared and analyzed.The results of an urban road data anlysis show that BDS-3 system is slightly weaker than GPS system in tracking satellites along east-west direction,and then the accuracy of BDS-3/GPS combined RTK surveying is better than 1.6cm in both horizontal and vertical direction,and point positioning accuracy is better than 2.2cm,which is basically equivalent to the accuracy of GPS dual-frequency RTK surveying,but better than the accuracy of BDS-3 dual-frequency RTK surveying.