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单频RTK动态精度检测法及实验验证

孙艺轩 蔚保国 杨东凯 杜毅 汉牟田

孙艺轩, 蔚保国, 杨东凯, 等 . 单频RTK动态精度检测法及实验验证[J]. 北京航空航天大学学报, 2020, 46(5): 988-993. doi: 10.13700/j.bh.1001-5965.2019.0341
引用本文: 孙艺轩, 蔚保国, 杨东凯, 等 . 单频RTK动态精度检测法及实验验证[J]. 北京航空航天大学学报, 2020, 46(5): 988-993. doi: 10.13700/j.bh.1001-5965.2019.0341
SUN Yixuan, YU Baoguo, YANG Dongkai, et al. Method and experimental verification of dynamic accuracy detection of single-frequency RTK[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(5): 988-993. doi: 10.13700/j.bh.1001-5965.2019.0341(in Chinese)
Citation: SUN Yixuan, YU Baoguo, YANG Dongkai, et al. Method and experimental verification of dynamic accuracy detection of single-frequency RTK[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(5): 988-993. doi: 10.13700/j.bh.1001-5965.2019.0341(in Chinese)

单频RTK动态精度检测法及实验验证

doi: 10.13700/j.bh.1001-5965.2019.0341
基金项目: 

新技术研究高校合作项目 KX162600040

地理信息工程国家重点实验室开放基金 SKLGIE2017-Z-2-3

详细信息
    作者简介:

    孙艺轩  女, 硕士研究生。主要研究方向:导航定位及GNSS-R应用

    杨东凯  男, 博士, 教授, 博士生导师。主要研究方向:导航定位及GNSS-R应用

    通讯作者:

    杨东凯, E-mail:edkyang@buaa.edu.cn

  • 中图分类号: P228

Method and experimental verification of dynamic accuracy detection of single-frequency RTK

Funds: 

University Cooperative Project on New Technology Research KX162600040

Funded by State Key Laboratory of Geo-Information Engineering SKLGIE2017-Z-2-3

More Information
  • 摘要:

    单频RTK技术在高精度测绘、无人驾驶等领域有着广泛应用,针对单频RTK的动态定位精度量化问题,提出了一种易于操作、适用地域广、不需要额外辅助设备的单频RTK动态精度检测法。首先,在地面建立基准直线; 然后,沿基准直线以走停模式测量RTK静态、动态组合数据,将静态数据利用整体最小二乘法拟合得到检核直线,并以此为参考评定动态定位精度; 最后,进行可靠性检验。精度评定时,以动态点到检核直线的平均偏离作为动态精度指标,采用间距误差作为检验所提方法可靠性的指标。实验结果表明,所提方法具有较高的可靠性,可以准确量化单频RTK约2~5 cm的动态定位精度。

     

  • 图 1  RTK单频双差观测原理示意图

    Figure 1.  Schematic diagram of RTK single-frequency double-difference observation principle

    图 2  单频RTK动态精度检测法流程

    Figure 2.  Flowchart of single-frequency RTK dynamic accuracy detection method

    图 3  系统组成模块

    Figure 3.  Block diagram of system composition

    图 4  实验实拍图

    Figure 4.  Real shot of experiment

    图 5  实验轨迹图

    Figure 5.  Trace diagram of experiment

    图 6  动态定位坐标误差的时间序列

    Figure 6.  Time series of coordinate errors in dynamic positioning

    图 7  平均速度为0.35 m/s时实验的动态点与检核直线

    Figure 7.  Dynamic point and checking line of experiment with average speed of 0.35 m/s

    表  1  东北天方向的RMS最值

    Table  1.   Maximum and minimum RMS in E-N-U

    方向 RMSmax/cm RMSmin/cm
    E 0.72 0.19
    N 0.75 0.19
    U 1.90 0.33
    下载: 导出CSV

    表  2  动态实时定位实验精度分析

    Table  2.   Accuracy analysis of dynamic real-time positioning experiment

    实验次数 平均速度/(m·s-1) 平均偏离
    d/cm
    最大偏离
    dmax/cm
    误差离散程度
    RMS(d)/cm
    1 0.13 1.676 4 4.567 6 1.18
    2 0.35 2.151 7 4.855 4 2.29
    下载: 导出CSV
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出版历程
  • 收稿日期:  2019-06-28
  • 录用日期:  2019-10-28
  • 网络出版日期:  2020-05-20

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