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) |
Single-frequency RTK technology is widely used in high-accuracy mapping, unmanned driving and other fields. A single-frequency RTK dynamic accuracy detection method is proposed to accurately quantify the dynamic positioning accuracy. It is easy to operate, suitable for a wide area and does not need additional auxiliary equipment. Using this method, we first establishes some reference lines on the ground, then measures RTK static and dynamic combined data along the reference lines in the run-stop mode. The static data are fitted by the total least squares algorithm to get the called checking lines, which are then used as the references for evaluating the dynamic positioning accuracy. The reliability of the proposed method is also checked using the same sets of the test data. During accuracy assessment, the average deviation from the dynamic point to the checking lines is used as the dynamic accuracy index, and the reliability index of the method is characterized by the difference between the distances of two reference lines and those of two checking lines. The experimental results show that the proposed method has high reliability and can accurately quantify the dynamic positioning accuracy of single-frequency RTK of about 2-5 cm.
[1] |
THEVENON P, VEZINET J, ESTRADE P.Estimation of the base station position error in a RTK receiver using state augmentation in a Kalman filter[C]//20189th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC).Piscataway: IEEE Press, 2018: 1-7.
|
[2] |
HENKEL P, SPERL A.Real-time kinematic positioning for unmanned air vehicles[C]//2016 IEEE Aerospace Conference.Piscataway: IEEE Press, 2016: 1-7.
|
[3] |
张小红, 李星星, 郭斐, 等.GPS单频精密单点定位软件实现与精度分析[J].武汉大学学报(信息科学版), 2008, 33(8):783-787.
ZHANG X H, LI X X, GUO F, et al.Realization and precision analysis of single-frequency precise point positioning software[J].Geomatics and Information Science of Wuhan University, 2008, 33(8):783-787(in Chinese).
|
[4] |
苏景岚, 章红平.城市环境下BDS/GPS单频RTK定位算法研究[J].大地测量与地球动力学, 2018, 38(10):1033-1037.
SU J L, ZHANG H P.Performance analysis of RTK algorithm for single-frequency combination of GPS and BDS in urban environments[J].Journal of Geodesyand Geodesy and Geodynamics, 2018, 38(10):1033-1037(in Chinese).
|
[5] |
潘冉冉, 蒋浩, 张洪, 等.低成本实时动态载波相位差分GPS的定位精度研究[J].浙江大学学报(农业与生命科学版), 2018, 44(4):414-422.
PAN R R, JIANG H, ZHANG H, et al.Research on positioning accuracy of low cost real time kinematic-global positioning system (RTKGPS)[J].Journal of Zhejiang University (Agriculture and Life Sciences), 2018, 44(4):414-422(in Chinese).
|
[6] |
徐彦田, 程鹏飞, 蔡艳辉, 等.单频RTK动态解算的卡尔曼滤波算法研究[J].测绘科学, 2012, 37(4):43-44.
XU Y T, CHENG P F, CAI Y H, et al.A Kalman filter algorithm for single-frequency RTK solution[J].Science of Surveying and Mapping, 2012, 37(4):43-44(in Chinese).
|
[7] |
ODOLINSKI R, TEUNISSEN P J G.Single-frequency, dual-GNSS versus dual-frequency, single-GNSS:A low-cost and high-grade receivers GPS-BDS RTK analysis[J].Journal of Geodesy, 2016, 90(11):1255-1278. doi: 10.1007/s00190-016-0921-x
|
[8] |
李金龙.北斗/GPS多频实时精密定位理论与算法[D].郑州: 解放军信息工程大学, 2014.
LI J L.BDS/GPS multi-frequency real-time kinematic positioning theory and algorithms[D].Zhengzhou: PLA Information Engineering University, 2014(in Chinese).
|
[9] |
HENKEL P, BANJARA B.Precise positioning in alpine areas with troposphere and multipath estimation[J].IEEE Sensors Journal, 2018, 18(20):8397-8409.
|
[10] |
谢钢.GPS原理与接收机设计[M].北京:电子工业出版社, 2017.
XIE G.Principles of GPS and receiver design[M].Beijing:Publishing House of Electronics Industry, 2017(in Chinese).
|
[11] |
陈健, 岳东杰, 朱少林.BDS/GPS组合单历元相对定位性能分析[J].现代测绘, 2017, 40(4):15-20. doi: 10.3969/j.issn.1672-4097.2017.04.005
CHEN J, YUE D J, ZHU S L.Performance assessment of BDS/GPS single-epoch positioning[J].Modern Surveying and Mapping, 2017, 40(4):15-20(in Chinese). doi: 10.3969/j.issn.1672-4097.2017.04.005
|
[12] |
ZHANG S G, CHENG N P, NI S Y.Analysis and simulations of LAMBDA integer ambiguity resolution algorithm[C]//2018 3rd International Conference on Control, Automation and Artificial Intelligence(CAAI 2018), 2018: 131-133.
|
[13] |
姚宜斌, 黄书华, 孔建, 等.空间直线拟合的整体最小二乘算法[J].武汉大学学报(信息科学版), 2014, 39(5):571-574.
YAO Y B, HUANG S H, KONG J, et al.Total least squares algorithm for fitting spatial straight lines[J].Geomatics and Information Science of Wuhan University, 2014, 39(5):571-574(in Chinese).
|
[14] |
杜聪慧, 高星伟, 马元, 等.BDS/GPS双系统单频RTK定位性能分析[C]//第九届中国卫星导航学术年会, 2018: 76-81.
DU C H, GAO X W, MA Y, et al.Performance analysis of RTK positioning for single-frequency combination of BDS and GPS[C]//The 9th China Satellite Navigation Conference, 2018: 76-81(in Chinese).
|
[15] |
张艳红, 张鹏, 吴辉, 等.基于RTK的低成本GPS+BDS接收机设计与性能分析[J].测绘通报, 2018(11):1-6.
ZHANG Y H, ZHANG P, WU H, et al.Design and performance analysis of low cost GPS+BDS receiver based on RTK[J].Bulletin of Surveying and Mapping, 2018(11):1-6(in Chinese).
|
[16] |
CHAI T, DRAXLER R R.Root mean square error (RMSE) or mean absolute error(MAE) —Arguments against avoiding RMSE in the literature[J].Geoscientific Model Development, 2014, 7(3):1247-1250. doi: 10.5194/gmd-7-1247-2014
|
[1] | WANG Y J,CHEN Q Y,GAO X Z,et al. Guidance and control method for dynamic net-recovery of UAV and the flight test verification[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(2):487-497 (in Chinese). doi: 10.13700/j.bh.1001-5965.2023.0043. |
[2] | XING Z W,SUN K,LUO Q,et al. Imputation algorithm for flight ground support data based on graph neural network[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(5):1528-1538 (in Chinese). doi: 10.13700/j.bh.1001-5965.2023.0300. |
[3] | RUAN S L,DONG Z,SUN Y,et al. Parameter optimization method of thrust vector/pneumatic rudder composite control law for aircraft based on singular value method[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(4):1332-1341 (in Chinese). doi: 10.13700/j.bh.1001-5965.2023.0227. |
[4] | CHEN Yong, ZHANG Bing-wang, XIN Zhao-feng. Security handover scheme for high-speed railway symbiotic network based on NTRU lattice[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0010 |
[5] | LIU Xiaolin, SONG Yingying, LI Zhuo. Civil aviation short text classification based on enhanced point-wise graph convolutional networks[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0223 |
[6] | LI H,ZHONG H P,ZHANG P,et al. Multi-shift interferometric phase filtering method based on convolutional neural network[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(6):2043-2050 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0805. |
[7] | XIONG F,LI Q,LI J,et al. Time-triggered traffic scheduling-oriented virtual network embedding method[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(6):1982-1990 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0511. |
[8] | ZHANG S F,XUAN W P,SHI L H,et al. Solidly mounted resonator based on optimized Bragg structure[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(2):449-455 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0436. |
[9] | HOU J H,HE K F,GAO F,et al. Shore-based BDS-R sea surface altimetry and weighting method of its observed values[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(3):1015-1026 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0360. |
[10] | LI Z B,SUN W,ZHANG Y N,et al. Computation on aerodynamic and aeroacoustic characteristics of scissor tail-rotor under sideslip condition[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(12):3794-3805 (in Chinese). doi: 10.13700/j.bh.1001-5965.2023.0037. |
[11] | LI Hao, ZHANG Xiao-rong, SUN Yan, DENG Yan-zeng, ZHU Zhi-mao. Automatic selection algorithm of interpolation points on aeroelastic coupling interface[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0079 |
[12] | JIANG Ting-wei, TANG Cheng-pan, HU Xiao-gong, ZHOU Shan-shi, CAO Yue-ling. A Method for Regional Real-Time Satellite Clock Estimation Considering Group Delay Variation[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2023.0615 |
[13] | SUN Y Q,QIANG H R,DONG K H,et al. Derivation and application of iterative scheme for angle-only orbit determination[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(12):3245-3252 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0062. |
[14] | ZHANG P,CHI H H,LI J B,et al. Lattice based strong designated verifier signature scheme[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(6):1294-1300 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0445. |
[15] | GAO J C,CHEN W J,HU W J,et al. Analysis of CO2 distribution characteristics in cabin of civil aircraft[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(9):2510-2517 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0683. |
[16] | GUO S N,SONG W,XIANG N L,et al. Dynamic characteristics of turbine flowmeter based on CFD simulation[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(8):1904-1911 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0594. |
[17] | ZHOU K,CHEN W J,CHEN W H,et al. Extended subtraction speech enhancement based on cubic spline interpolation[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(10):2826-2834 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0744. |
[18] | ZHOU C C,LIU H W,HE B M,et al. An efficient spatial interpolation method involving position shading[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(6):1278-1286 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0443. |
[19] | YANG Lan, AN Chao, XIE Changchuan, YANG Chao. Gust load alleviation analysis based on vortex lattice method in state-space form[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(7): 1200-1209. doi: 10.13700/j.bh.1001-5965.2021.0023 |
[20] | XU Weizheng, KONG Xiangshao, ZHENG Cheng, WU Weiguo. An improved method for third-order WENO-Z scheme[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(12): 2400-2405. doi: 10.13700/j.bh.1001-5965.2016.0863 |