RTX Positioning: The Next Generation of cm-accurate Real-time GNSS Positioning-猫眼课题宝

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2011-09

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R. Leandro;H. Landau;M. Nitschke;Markus Glocker;S. Seeger;Xiaoming Chen;Alois Deking;Mohamed BenTahar;Feipeng Zhang;Kendall Ferguson;Ralf Stolz;N. Talbot;G. Lu;T. Allison;Markus Brandl;Víctor Gómez;Wei Cao;A. Kipka

第一个商用GPS实时动态(RTK)定位产品于1993年发布。从那时起，RTK技术已经进入了广泛的应用领域和市场，包括测量、机器控制和精密农业。当前的RTK系统提供厘米级的精确定位，通常具有数秒的初始化时间。然而，RTK定位的主要局限性之一是需要附近的基础设施。该基础设施通常包括单个基站和无线电链路，或者在网络RTK的情况下，包括具有互联网连接的几个参考站、中央处理中心和到用户的通信链路。在单基地或网络RTK中，参考站和漫游者接收器之间的距离通常被限制在100公里。在过去的十年中，一些研究人员倡导将精密单点定位(PPP)技术作为基于参考站的RTK的替代技术。利用PPP技术，全球导航卫星系统的定位是使用精确的卫星轨道和时钟信息进行的，而不是使用一个或多个参考站的校正。已发布的PPP解决方案通常提供优于10厘米的水平位置精度。PPP技术的主要缺点是实现10厘米或更高的动态位置精度所需的收敛时间相对较慢。PPP汇聚时间通常在几十分钟左右，但有时汇聚可能需要几个小时，具体取决于卫星几何形状和当时的大气条件。对于依赖生产率和可用性的定位系统而言，较长的初始化时间是考虑将PPP作为实用解决方案的一个限制因素。然而，从地面基础设施和业务覆盖区域的角度来看，购买力平价技术非常有吸引力，因为在任何有卫星改正数据的地方都有可能进行精确定位。多年来，许多组织一直在努力提高类似PPP的解决方案的生产率。同时，还努力利用分布稀疏的参考站来提高网络RTK性能。到目前为止，这两种方法都还没有可行的解决方案。已公布的用于高精度应用的PPP解决方案的商业成功受到与现有RTK方法相比生产率较低的限制。在本文中，我们提出了一种结合了这两种解决方案的优点的技术，即不需要本地参考站的定位技术，同时提供RTK定位的生产力。这意味着将以参考站为基础的RTK系统的高生产率和精确度与基于全球卫星改正的解决方案的覆盖范围扩大相结合。这项新技术的结果是定位服务CenterPoint RTX TM，它在不直接使用参考站基础设施的情况下提供实时厘米级的精度，适用于许多GNSS市场。此外，RTX解决方案还适用于多个GNSS星座。这项新技术涉及RTK网络处理方面的创新，以及月球车RTK定位算法的进步。

The first commercial GPS Real-time Kinematic (RTK) positioning products were released in 1993. Since then RTK technology has found its way into a wide variety of application areas and markets including Survey, Machine Control, and Precision Farming. Current RTK systems provide cm-accurate positioning typically with initialization times of seconds. However, one of the main limitations of RTK positioning is the need of having nearby infra-structure. This infra-structure normally includes a single base station and radio link, or in the case of network RTK, several reference stations with internet connections, a central processing center and communication links to users. In single-base, or network RTK, the distances between reference stations and the rover receiver are typically limited to 100 km. During the last decade several researchers have advocated Precise Point Positioning (PPP) techniques as an alternative to reference station-based RTK. With the PPP technique the GNSS positioning is performed using precise satellite orbit and clock information, rather than corrections from one or more reference stations. The published PPP solutions typically provide position accuracies of better than 10 cm horizontally. The major drawback of PPP techniques is the relatively slow convergence time required to achieve kinematic position accuracies of 10 cm or better. PPP convergence times are typically on the order of several tens of minutes, but occasionally the convergence may take a couple of hours depending on satellite geometry and prevailing atmospheric conditions. Long initialization time is a limiting factor in considering PPP as a practical solution for positioning systems that rely on productivity and availability. Nevertheless, PPP techniques are very appealing from a ground infrastructure and operational coverage area perspective, since precise positioning could be potentially performed in any place where satellite correction data is available. For several years, efforts have been made by numerous organizations in attempting to improve the productivity of PPP-like solutions. Simultaneously, efforts have been made to improve network RTK performance with sparsely located reference stations. Until now there has not been a workable solution for either approach. Commercial success of the published PPP solutions for high-accuracy applications has been limited by the low productivity compared to established RTK methods. In this paper we present a technology that brings together the advantages of both types of solutions, i.e., positioning techniques that do not require local reference stations while providing the productivity of RTK positioning. This means coupling the high productivity and accuracy of reference station-based RTK systems with the extended coverage area of solutions based on global satellite corrections. The outcome of this new technology is the positioning service CENTERPOINT RTX TM , which provides real-time cm-level accuracy without the direct use of a reference station infrastructure, that is suitable for many GNSS market segments. Furthermore, the RTX solution is applicable to multi-GNSS constellations. The new technology involves innovations in RTK network processing, as well as advancements in the rover RTK positioning algorithms.

RTX Positioning: The Next Generation of cm-accurate Real-time GNSS Positioning

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