分步北斗三频部分模糊度解算方法
Stepwise Beidou triple-frequency partial ambiguity resolution method
王凯锋 1孙永荣 1付希禹 1李瑶1
作者信息
- 1. 南京航空航天大学自动化学院,南京 211106
- 折叠
摘要
针对动态环境下半周模糊度导致全集模糊度难以固定的问题,提出了一种分步北斗三频部分模糊度解算方法.该方法首先基于半周模糊度特性,设计了一种连续观测历元部分模糊度解算(COE-PAR)方法,初步筛选出质量较优的模糊度子集,减少了后续部分模糊度解算的计算量.进一步设计了一种逐级部分模糊度解算(CPAR)方法,通过多种基于观测质量的模糊度筛选方法对超宽巷、宽巷和窄巷模糊度进行逐级部分固定,获得了不含半周模糊度的部分模糊度固定解.最后通过动态车载实验验证了方法的有效性.实验结果表明,分步北斗三频部分模糊度解算方法可有效提高动对动相对定位的模糊度固定率.城市动态环境下,与传统全集模糊度解算方法相比,Ratio检验后的模糊度固定率从91％提高至100％,相对定位误差降低了 18％～79％;同时,COE-PAR方法减少了 CPAR方法中模糊度剔除时最小二乘模糊度降相关平差(LAMBDA)算法约55％的执行次数.
Abstract
To address the difficulty of fixing full ambiguity caused by half-cycle ambiguities in dy-namic environments,a stepwise Beidou triple-frequency partial ambiguity resolution method is proposed.Initially,based on the characteristic of half-cycle ambiguity,a continuous observation epochs partial ambiguity resolution(COE-PAR)method is designed to preliminarily select high-quality ambiguity subsets.This method reduces the computational load for subsequent partial am-biguity resolution.Furthermore,a cascading partial ambiguity resolution(CPAR)method is de-signed.This method employs multiple screening methods based on observation quality to sequen-tially fix the ambiguities of extra-wide-lane,wide-lane,and narrow-lane.Then,the partial ambi-guities free from half-cycle ambiguities are fixed.Ultimately,the effectiveness of these methods is validated through dynamic vehicle-mounted experiments.The experimental results demonstrate that the stepwise Beidou triple-frequency partial ambiguity resolution method can effectively en-hance the ambiguity fixing rates for kinematic-to-kinematic relative positioning.In urban dynamic environments,compared to traditional full ambiguity resolution method,the ambiguity fixing rates,validated by Ratio test,are improved from 91％to 100％,and the relative positioning errors are reduced by 18％to 79％.Moreover,the COE-PAR method reduces the execution times of the least squares ambiguity decorrelation adjustment(LAMBDA)method during ambiguity exclusion in the CPAR method by approximately 55％.
关键词
部分模糊度解算/北斗三频/半周模糊度/动对动相对定位Key words
Partial ambiguity resolution/Beidou triple-frequency/Half-cycle ambiguity/Kinematic-to-ki-nematic relative positioning引用本文复制引用
出版年
2024
NETL
NSTL
万方数据