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多全球导航卫星系统单频实时动态定位与微机电惯性测量单元的紧密耦合集成以提升定位性能

Tightly-Coupled Integration of Multi-GNSS Single-Frequency RTK and MEMS-IMU for Enhanced Positioning Performance.

作者信息

Li Tuan, Zhang Hongping, Niu Xiaoji, Gao Zhouzheng

机构信息

GNSS Research Center, Wuhan University, 129 Luoyu Road, Wuhan 430079, China.

School of Land Science and Technology, China University of Geosciences, 29 Xueyuan Road, Beijing 100083, China.

出版信息

Sensors (Basel). 2017 Oct 27;17(11):2462. doi: 10.3390/s17112462.

DOI:10.3390/s17112462
PMID:29077070
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC5712897/
Abstract

Dual-frequency Global Positioning System (GPS) Real-time Kinematics (RTK) has been proven in the past few years to be a reliable and efficient technique to obtain high accuracy positioning. However, there are still challenges for GPS single-frequency RTK, such as low reliability and ambiguity resolution (AR) success rate, especially in kinematic environments. Recently, multi-Global Navigation Satellite System (multi-GNSS) has been applied to enhance the RTK performance in terms of availability and reliability of AR. In order to further enhance the multi-GNSS single-frequency RTK performance in terms of reliability, continuity and accuracy, a low-cost micro-electro-mechanical system (MEMS) inertial measurement unit (IMU) is adopted in this contribution. We tightly integrate the single-frequency GPS/BeiDou/GLONASS and MEMS-IMU through the extended Kalman filter (EKF), which directly fuses the ambiguity-fixed double-differenced (DD) carrier phase observables and IMU data. A field vehicular test was carried out to evaluate the impacts of the multi-GNSS and IMU on the AR and positioning performance in different system configurations. Test results indicate that the empirical success rate of single-epoch AR for the tightly-coupled single-frequency multi-GNSS RTK/INS integration is over 99% even at an elevation cut-off angle of 40°, and the corresponding position time series is much more stable in comparison with the GPS solution. Besides, GNSS outage simulations show that continuous positioning with certain accuracy is possible due to the INS bridging capability when GNSS positioning is not available.

摘要

双频全球定位系统（GPS）实时动态定位（RTK）在过去几年已被证明是一种获取高精度定位的可靠且高效的技术。然而，GPS单频RTK仍面临挑战，如可靠性低和模糊度解算（AR）成功率低，尤其是在动态环境中。最近，多全球导航卫星系统（multi-GNSS）已被应用于提高AR的可用性和可靠性方面的RTK性能。为了在可靠性、连续性和精度方面进一步提高多GNSS单频RTK性能，本研究采用了低成本的微机电系统（MEMS）惯性测量单元（IMU）。我们通过扩展卡尔曼滤波器（EKF）将单频GPS/北斗/格洛纳斯与MEMS-IMU紧密集成，该滤波器直接融合了模糊度固定的双差（DD）载波相位观测值和IMU数据。进行了实地车辆测试，以评估多GNSS和IMU在不同系统配置下对AR和定位性能的影响。测试结果表明，即使在仰角截止为40°时，紧密耦合的单频多GNSS RTK/INS集成的单历元AR经验成功率仍超过99%，并且与GPS解相比，相应的位置时间序列更加稳定。此外，GNSS中断模拟表明，当GNSS定位不可用时，由于INS的桥接能力，以一定精度进行连续定位是可能的。

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