BeiDou Navigation Satellite System in Challenge Environment Using an Atomic Clock and Barometric Altimeter
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摘要: 在城市峡谷等遮挡环境下，接收机无法连续进行定位解算；并且高程定位精度不能满足用户在立交桥或者盘山公路等环境下的定位需求。在接收机内使用原子钟，可以利用原子钟的高稳定性，对钟差进行高精度的预测。并通过与气压测高仪共同辅助北斗系统定位，可以有效提高接收机的定位精度和连续性；该文首先理论分析了原子钟和气压测高仪辅助定位算法；然后，提出一种气压测高仪初始化校正方法，并通过对钟差噪声类型的分析确定了钟差预测方法；最后，模拟遮挡环境，进行原子钟和气压测高仪辅助北斗卫星导航系统定位试验，并分析了定位结果。结果表明：仅跟踪两颗可见卫星，便可以进行定位解算，并且垂直方向上的定位误差从8.2 m (RMSE)下降到了5.2 m，定位结果的波动从4.6 m下降到了0.8 m。Abstract: The vertical positioning accuracy of BeiDou satellite navigation System (BDS) and the continuity of receiver in the challenge environment can not satisfy the user demand. If atomic clocks are used in the receiver, the high stability of the atomic clock can be used for long time and high precision prediction of receiver clock bias. The positioning accuracy and continuity are improved by using atomic clock and barometric altimeter. This article first analyzes the atomic clocks and barometric altimeter aided BDS positioning algorithm; Then, correction method is proposed for initialization of barometric altimeter, and analysis on the difference of noise type clock is used to determine the clock bias prediction method; Finally, positioning experiment of the atomic clock and barometric altimeter aided BDS in simulation challenge environment is carried out, and the positioning result is analyzed. The results show that BDS can positioning solution to track two visible satellites, and vertical positioning accuracy is significantly improved. The positioning error in the vertical direction is decreased from 8.2 m (RMSE) to 5.2 m, and the fluctuation of the positioning results decreased from 4.6 m to 0.8 m.
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表 1 不同时长内气压、温度最大变化量的均方根误差
时间(min) 气压(kPa) 温度(°C) 15 0.017 0.44 30 0.030 0.69 45 0.043 0.92 60 0.055 1.12 
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表 2 在不同温度和不同气压条件下，气压每变化0.01 kPa对高度的影响(m)
气 压 (kPa) 温度(°C) –40 –20 0 20 40 100 0.68 0.74 0.80 0.86 0.92 90 0.76 0.82 0.89 0.95 1.02 80 0.85 0.93 1.00 1.07 1.15 60 1.14 1.24 1.33 1.43 1.53
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表 4 1 个小时内各个方向上的定位误差
RMSE (m) Std (m) 开阔环境 遮挡环境 开阔环境 遮挡环境 东西方向 2.9 6.6 1.5 4.1 南北方向 1.9 4.5 1.9 4.3 垂直方向 8.2 5.2 4.6 0.8
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