宇航学报

宇航学报 ›› 2012, Vol. 33 ›› Issue (3): 405-409.doi: 10.3873/j.issn.1000-1328.2012.03.019

• 环境试验与器件 • 上一篇    

基于相位单差精密测速的动态精密单点定位算法

刘志强1,2, 王解先1,3, 王虎1   

  1. 1. 同济大学测量与国土信息工程系，上海 200092； 2. 河海大学地球科学与工程学院，南京 210098；3. 现代工程测量国家测绘局重点实验室，上海 200092
  • 收稿日期:2011-01-25 修回日期:2011-04-25 出版日期:2012-03-15 发布日期:2012-03-16
  • 作者简介:10001328（2012）03040506
  • 基金资助:
    国家自然科学基金（40974018）

An Approach for Kinematic Precise Point Positioning Based on Precise Velocity Estimation

LIU Zhi-qiang1,2, WANG Jie-xian1,3, WANG Hu 1   

  1. 1. Dept. of Surveying Geo-infomatics Engineering, Tongji University, Shanghai 200092, China; 2. School of Earth Sciences and Engineering, Hehai University, Nanjing 210098, China; 3. Key Lab of Advanced Surveying Engineering of SBSM, Shanghai 200092, China
  • Received:2011-01-25 Revised:2011-04-25 Online:2012-03-15 Published:2012-03-16

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摘要： 利用相邻历元间的载波相位单差可求得动态载体的高精度三维速度向量，基于此提出了可精确描述载体运动变化的扩展卡尔曼滤波动态精密单点定位算法。该算法克服了高动态条件下采用简化动力学模型可能引起的系统状态描述失实问题，同时还可输出动态载体的精密速度信息。飞机动态试验结果表明，用该算法的动态单点定位结果与TRACK双差解计算互差得到的三维RMS值，平面分量精度优于3cm，高程分量精度优于6cm，速度测量精度可达mm/s级。

关键词: GPS, 相位单差, 精密测速, 扩展卡尔曼滤波, 动态精密单点定位, 动力学模型

Abstract: Precise velocity of the dynamic platform can be determined by single-difference (SD) of accumulated carrier-phase measurements between epochs. Based on the velocity estimated by the SD method, an approach for kinematic precise point positioning with Extended Kalman Filter is proposed. The algorithm enables correct description of highly dynamic system, and has an advantage over empirical dynamic models. In the meanwhile, precise velocity information can also be obtained. An aircraft dynamic test shows that the discrepancies between the single point-positioning solution and the relative double-difference (DD) TRACK solution are within a few centimeters. The RMS values are better than 3cm in north and east components, and 6 cm in the up component. The accuracy of estimated velocity comes up to mm/s level.

Key words: GPS, Single difference of carrier-phase measurements, Precise velocity estimation, Extended Kalman filter, Kinematic precise point positioning, Dynamics model

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