一种网络RTK参考站模糊度快速解算方法

王守华; 吴黎荣; 尤志奇; 付文涛; 纪元法

doi:10.11999/JEIT200059

一种网络RTK参考站模糊度快速解算方法

doi: 10.11999/JEIT200059

王守华^{1, 2, 3, ,},
吴黎荣^{2, 3},
尤志奇^{2, 3},
付文涛³,
纪元法^{2, 3}

1.
桂林电子科技大学信息与通信学院桂林 541004
2.
桂林电子科技大学认知无线电与信息处理省部共建教育部重点实验室桂林 541004
3.
卫星导航定位与位置服务国家地方联合工程研究中心桂林 541004

基金项目: 认知无线电与信息处理省部共建教育部重点实验室主任基金(CRKL190105)，广西自然科学基金(2018JJA170154)，广西科技项目(AA17202033)，广西区级研究生教育创新计划项目(YCSW2021180)

详细信息

作者简介:
王守华：1975年生，男，博士生，教授，研究方向为信号处理、卫星导航

吴黎荣：1993年生，男，硕士生，研究方向为网络RTK

尤志奇：1996年生，男，硕士生，研究方向为北斗高精度定位

付文涛：1989年生，男，硕士，研究方向为卫星导航

纪元法：1975年生，男，博士，教授，研究方向为卫星导航、信号处理

通讯作者:
王守华　wshgluet@163.com

中图分类号: TN927
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出版历程
- 收稿日期: 2020-10-15
- 修回日期: 2021-04-06
- 网络出版日期: 2021-06-03
- 刊出日期: 2021-08-10

A Fast Ambiguity Solution Method for Network RTK Reference Station

Shouhua WANG^{1, 2, 3
, ,},
Lirong WU^{2, 3},
Zhiqi YOU^{2, 3},
Wentao FU³,
Yuanfa JI^{2, 3}

1.
College of Information and Communication, Guilin University of Electronic Technology, Guilin 541004, China
2.
Key Laboratory of Cognitive Radio and Information Processing of Guilin University of Electronic Technology, Ministry of Education, Guilin 541004, China
3.
National Engineering Research Center for Satellite Navigation, Positioning and Position Service, Guilin 541004, China

Funds: The Key Laboratory of Cognitive Radio and Information Processing, Ministry of Education (Guilin University of Electronic Technology (CRKL190105), The Foundation of Guangxi Natural Science Foundation (2018JJA170154), The Department of Science and Technology of Guangxi Zhuang Autonomous Region (AA17202033), The Innovation Project of Guangxi Graduate Education (YCSW2021180)

摘要

摘要: 针对由于存在大气因素的干扰，网络载波相位差分技术(RTK)参考站模糊度解算会受到影响，同时当新卫星升至预先设置的截止高度角以上时，需要较长的初始化收敛时间，该文提出一种网络RTK参考站模糊度快速解算方法。该方法先利用电离层加权策略，辅助基线模糊度的快速解算，再采用扩展卡尔曼滤波(EKF)技术估计浮点模糊度，利用部分模糊度解算方法，最后通过最小二乘模糊度降相关(LAMBDA)算法和比率(RATIO)检测对模糊度进行固定解算。实验结果表明，该方法可以显著提高网络RTK参考站模糊度的固定率和缩短初始化收敛时间。
- 网络RTK /
- 模糊度解算 /
- 部分模糊度固定 /
- 电离层加权法
Abstract: Due to the interference of atmospheric factors, the ambiguity resolution of network Real Time kinematic (RTK) reference stations is affected, and when new satellites rise above the preset cutoff height, a longer initialization convergence time is required. A fast ambiguity solution method for Network RTK reference stations is proposed. Firstly, the ionosphere weighting strategy is used to assist the fast resolution of baseline ambiguity. Then, Extended Kalman Filter(EKF)is used to estimate ambiguity floating solution; The partial ambiguity solution method is adopted. Finally, the ambiguities are fixed in combination with Least squares AMBiguity Decorrelation Adjustment(LAMBDA) and RATIO detection. Experiments results show that this method can significantly improve the ambiguity fixation rate of network RTK reference stations and shorten the initialization convergence time.
- Network RTK /
- Ambiguity resolution /
- Partial ambiguity fixed /
- Ionosphere weighted method

HTML全文

图 1 网络RTK定位原理图

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图 2 网络RTK参考站模糊度解算步骤流程图

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图 3 未加权电离层模型处理结果

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图 4 电离层加权模型处理结果

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图 5 不同模糊度解算方法的RATIO值对比

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图 6 可见卫星数量及空间分布PDOP序列图

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图 7 全模糊度固定解算方法的3维基线序列

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8 不同模糊度解算方法的3维基线序列

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图 9 模糊度固定前后的双差电离层延迟的标准偏差示例

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表 1 不同解算方法的固定率和初始化时间对比

模糊度解算方法	模糊度固定率(%)	初始化时间(s)
LAMBDA(全)	18.6	3680
FAR	82.3	270
PAR	92.6	20
M-PAR	97.6	20

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表 2 不同解算方法的定位结果绝对误差(m)

模糊度解算方法	ΔE	ΔN	ΔU
FAR(Float/fix)	0.375	0.224	0.544
PAR(Float/Fix)	0.162	0.112	0.205
M-PAR(Float/Fix)	0.045	0.068	0.104
FAR(Fix)	0.113	0.141	0.231
PAR(Fix)	0.013	0.012	0.063
M-PAR(Fix)	0.008	0.010	0.032
注：ΔE表示东向误差；ΔN表示北向误差；ΔU表示天向误差

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