Krasuski Kamil, Ciećko Adam, Bakuła Mieczysław, Grunwald Grzegorz, Wierzbicki Damian
Institute of Navigation, Polish Air Force University, 08-521 Dęblin, Poland.
Faculty of Geoengineering, University of Warmia and Mazury in Olsztyn, 10-720 Olsztyn, Poland.
Sensors (Basel). 2021 Dec 21;22(1):21. doi: 10.3390/s22010021.
The paper presents the results of research on improving the accuracy of aircraft positioning using RTK-OTF (Real Time Kinematic-On The Fly) technique in air navigation. The paper shows a new solution of aircraft positioning for the application of the differential RTK-OTF technique in air navigation. In particular, a new mathematical model is presented which makes it possible to determine the resultant position of an aircraft based on the solution for the method of least squares in a stochastic process. The developed method combines in the process of alignment of GPS (Global Positioning System) observations, three independent solutions of the aircraft position in OTF mode for geocentric coordinates XYZ of the aircraft. Measurement weights as a function of the vector length and the mean vector length error, respectively, were used in the calculations. The applied calculation method makes it possible to determine the resultant position of the aircraft with high accuracy: better than 0.039 m with using the measurement weight as a function of the vector length and better than 0.009 m with the measurement weight as a function of the mean error of the vector length, respectively. In relation to the classical RTK-OTF solution as a model of the arithmetic mean, the proposed method makes it possible to increase the accuracy of determination of the aircraft position by 45-46% using the measurement weight as a function of the vector length, and 86-88% using the measurement weight as a function of the mean error of the vector length, respectively. The obtained test results show that the developed method improves to significantly improve the accuracy of the RTK-OTF solution as a method for determining the reference position in air navigation.
本文介绍了在航空导航中使用RTK-OTF（实时动态-动态解算）技术提高飞机定位精度的研究结果。本文展示了一种用于航空导航中差分RTK-OTF技术应用的飞机定位新解决方案。具体而言，提出了一种新的数学模型，该模型能够基于随机过程中最小二乘法的解来确定飞机的合成位置。所开发的方法在GPS（全球定位系统）观测值对齐过程中，结合了飞机在地心坐标系XYZ下OTF模式下的三种独立飞机位置解算方法。计算中分别使用了作为向量长度和平均向量长度误差函数的测量权重。所应用的计算方法能够高精度地确定飞机的合成位置：使用作为向量长度函数的测量权重时优于0.039米，使用作为向量长度平均误差函数的测量权重时优于0.009米。与作为算术平均值模型的经典RTK-OTF解相比，所提出的方法使用作为向量长度函数的测量权重时能够将飞机位置确定精度提高45-46%，使用作为向量长度平均误差函数的测量权重时能够提高86-88%。所获得的测试结果表明，所开发的方法显著提高了RTK-OTF解作为航空导航中确定参考位置方法的精度。
