Evaluation on real-time dynamic performance of BDS in PPP, RTK, and INS tightly aided modes
Evaluation on real-time dynamic performance of BDS in PPP, RTK, and INS tightly aided modes
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DOI：
10.1016/j.asr.2018.02.004
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发表时间：
2018-05-01
影响因子：
2.6
通讯作者：
Schuh, Harald
中科院分区：
文献类型：
--
作者：
Gao, Zhouzheng;Li, Tuan;Schuh, Harald
自2012年中国的北斗卫星导航系统开始为亚太地区提供区域导航服务以来，又发射了更多的新一代北斗卫星，进一步将北斗卫星的覆盖范围扩大到全球。文中详细介绍了基于BDS的精密定位模型和相应的数学算法。然后，通过处理一组陆载车辆实验数据，对BDS在精密单点定位(PPP)、实时运动学(RTK)、惯性导航系统(INS)紧辅助PPP和RTK模式下的实时动态定位和导航性能进行了评估。结果表明，北向、东向和垂直分量的均方根(RMS)在RTK模式下分别为2.0、2.7和7.6 cm，在PPP模式下分别为7.8、14.7和24.8 cm，接近GPS定位精度。同时，在INS的帮助下，使用PPP/INS紧密集成模式可以获得大约38.8%、67.5%和66.5%的改善。在RTK/INS紧集成模式下，这些增强分别为14.1%、34.0%和41.9%。测速精度可提高到1 cm/S以下，姿态测量精度可提高到0.1度以下。此外，在卫星信号丢失期间，INS还可以显著改善PPP和RTK模式下BDS的连续性和可靠性。(C)2018年空间研委会。爱思唯尔有限公司出版。保留所有权利。
Since China's BeiDou satellite navigation system (BDS) began to provide regional navigation service for Asia-Pacific region after 2012, more new generation BDS satellites have been launched to further expand BDS's coverage to be global. In this contribution, precise positioning models based on BDS and the corresponding mathematical algorithms are presented in detail. Then, an evaluation on BDS's real-time dynamic positioning and navigation performance is presented in Precise Point Positioning (PPP), Real-time Kinematic (RTK), Inertial Navigation System (INS) tightly aided PPP and RTK modes by processing a set of land-borne vehicle experiment data. Results indicate that BDS positioning Root Mean Square (RMS) in north, east, and vertical components are 2.0, 2.7, and 7.6 cm in RTK mode and 7.8, 14.7, and 24.8 cm in PPP mode, which are close to GPS positioning accuracy. Meanwhile, with the help of INS, about 38.8%, 67.5%, and 66.5% improvements can be obtained by using PPP/INS tight-integration mode. Such enhancements in RTK/INS tight-integration mode are 14.1%, 34.0%, and 41.9%. Moreover, the accuracy of velocimetry and attitude determination can be improved to be better than 1 cm/s and 0.1 degrees, respectively. Besides, the continuity and reliability of BDS in both PPP and RTK modes can also be ameliorated significantly by INS during satellite signal missing periods. (C) 2018 COSPAR. Published by Elsevier Ltd. All rights reserved.