北斗卫星导航系统长距离网络RTK方法研究

The algorithm of network RTK of Beidou navigation satellite system between long range

研究了北斗卫星导航系统长距离网络实时动态定位(RTK)方法.利用长距离参考站北斗卫星导航系统(BDS)多频观测数据确定宽巷整周模糊度,通过顾及大气误差的载波相位整周模糊度解算模型,解算双差载波相位整周模糊度.考虑长距离参考站观测误差的特性不同,将观测误差进行分类处理,利用参考站观测误差和区域误差内插法分别计算流动站的电离层延迟误差和非色散性误差,并改正流动站载波相位观测值的观测误差.使用流动站多频载波相位整周模糊度解算方法确定载波相位整周模糊度,并进行位置参数的计算.使用长距离连续运行参考站(CORS)的实测数据进行算法实验,流动站定位结果与坐标已知值在E,N,U 3个坐标分量方向的偏差达到厘米级水平,3个坐标分量差值的RMS分别为10,14,35 mm.实验结果表明:提出的BDS长距离网络RTK方法可以有效消除流动站载波相位观测值的系统误差,实现流动站用户的厘米级定位.

The algorithm of network RTK of Beidou Navigation Satellite System between long range was studied.The wide lane ambiguities were fixed by the multi-frequency observation data of BDS between long range reference station network.Then the double difference carrier phase integer ambiguities can be fixed based on the solution model including atmospheric errors of carrier phase integer ambiguities.The observation errors were classified,for the characteristics of observation errors between long range reference station network were different.The ionosphere bias and non-dispersive bias rover were calculated by the errors on reference stations and region error interpolation.Then the errors of BDS carrier phase observation of rover were removed by the calculation errors.The carrier phase integer ambiguities of rover can be fixed by the method of solving integer ambiguity with multi-frequency carrier phases,and the position was obtained by the fixed ambiguities.The test of the algorithm was carried out by the data with long range reference station network.The deviation between the rover positioning result and the known coordinate value in the direction of E,N,U 3 coordinate components reaches the centimeter level.And the RMS of the three coordinate component differences are 10,14,35 mm,respectively.The results of the experiment indicate that the BDS long range network RTK method can effectively eliminate the systematic error of the carrier phase observation of the rover,the centimetre level positioning accuracy can be achieved by this algorithm.