Duan Shunli, Sun Wei, Ouyang Chenhao, Chen Xinyu, Shi Junbo
School of Geomatics, Liaoning Technical University, Fuxin 123000, China.
School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China.
Sensors (Basel). 2019 Jul 9;19(13):3029. doi: 10.3390/s19133029.
In the traditional raw Doppler (RD) velocity estimation method, the positioning error of the pseudorange-based global navigation satellite system (GNSS) single point positioning (SPP) solution affects the accuracy of the velocity estimation through the station-satellite unit cosine vector. To eliminate the effect of positioning errors, this paper proposes a carrier-phase-based second generation of the BeiDou navigation satellite system (BDS-2) precise point positioning (PPP) RD velocity estimation method. Compared with the SPP positioning accuracy of tens of meters, the BDS-2 kinematic PPP positioning accuracy is significantly improved to the dm level. In order to verify the reliability and applicability of the developed method, three dedicated tests, the vehicle-borne, ship-borne and air-borne platforms, were conducted. In the vehicle-borne experiment, the GNSS and inertial navigation system (INS)-integrated velocity solution was chosen as the reference. The velocity accuracy of the BDS-2 PPP RD method was better than that of SPP RD by 28.4%, 27.1% and 26.1% in the east, north and up directions, respectively. In the ship-borne and air-borne experiments, the BDS-2 PPP RD velocity accuracy was improved by 17.4%, 21.4%, 17.8%, and 38.1%, 17.6%, 17.5% in the same three directions, respectively, compared with the BDS-2 SPP RD solutions. The reference in these two tests is the real-time kinematic (RTK) Position Derivation (PD)-based velocity.
在传统的原始多普勒（RD）速度估计方法中，基于伪距的全球导航卫星系统（GNSS）单点定位（SPP）解的定位误差通过站星单位余弦向量影响速度估计的精度。为了消除定位误差的影响，本文提出了一种基于载波相位的第二代北斗导航卫星系统（BDS-2）精密单点定位（PPP）RD速度估计方法。与精度为几十米的SPP定位相比，BDS-2动态PPP定位精度显著提高到分米级。为了验证所提出方法的可靠性和适用性，进行了三项专门测试，分别是车载、船载和机载平台测试。在车载实验中，选择GNSS和惯性导航系统（INS）组合的速度解作为参考。BDS-2 PPP RD方法在东、北、上方向的速度精度分别比SPP RD方法高28.4%、27.1%和26.1%。在船载和机载实验中，与BDS-2 SPP RD解相比，BDS-2 PPP RD速度精度在相同的三个方向上分别提高了17.4%、21.4%、17.8%，以及38.1%、17.6%、17.5%。这两项测试中的参考是基于实时动态（RTK）位置推导（PD）的速度。
