GNSS载波相位差分定位在动态平台间的协同应用中广泛应用,但差分相对定位结果存在时间延迟,需要进行递推补偿.论文提出了一种基于载波相位差分的实时动态相对定位计算的方法,补偿了由于卫导差分数据生成、数据传输和定位解算处理带来的时延误差.该方法主要依赖于卫星相对测速和卫星授时,相对测速误差决定了实时相对差分结果的误差.在测速存在野值时,提出了一种误差剔除方法,以提升相对速度精度.经过跑车测试验证,该方法能够有效剔除相对速度和相对位置野值,使得经过补偿的实时相对定位结果精度RMS值在0.005 m,最大误差0.029 m.
Research on Real-time Carrier Phase Differential GNSS Relative Navigation
GNSS RTK is widely used in cooperative navigation between dynamic platforms.Due to the delay of RTK relative position,extrapolation is necessary.A method of real time dynamic carrier phase differential relative navigation is proposed,which compensates delay of generation of differential data,transmission of differential data and procession of navigation solution.The meth-od is based on GNSS relative velocity solution and time service and the precision of relative position is based on the relative velocity.A method is proposed to eliminate outlier error to guarantee the precision of relative velocity.Tested by car verification system,this method can ensure effectively eliminate relative velocity and position outlier,with the precision of relative position RMS error 0.005 m,and max error 0.029 m.
万方数据
维普
