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ppp-rtk considering the ionosphere uncertainty with cross-validation

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Satellite Navigation 2022年第1期3卷 34-46,I0002页

作者： Pan Li Bobin Cui Jiahuan Hu Xuexi Liu Xiaohong Zhang Maorong Ge Harald Schuh College of Geology Engineering and Geomatics Chang’an UniversityXi’an 710054China Department of Geodesy GeoForschungsZentrum(GFZ)14473 TelegrafenbergPotsdamGermany Technische Universität Berlin Straße des 17.Juni 13510623 BerlinGermany l4 Department of Earth and Space Science and Engineering York UniversityTorontoON M3J 1P3Canada School of Geodesy and Geomatics Wuhan UniversityWuhan 430079China

With the high-precision products of satellite orbit and clock,uncalibrated phase delay,and the atmosphere delay corrections,Precise Point Positioning(ppp)based on a Real-Time Kinematic(rtk)network is possible to rapidly achieve centimeter-level positioning *** the ionosphere-weighted ppp–rtk model,not only the a priori value of ionosphere but also its precision afect the convergence and accuracy of *** study proposes a method to determine the precision of the interpolated slant ionospheric delay by *** new method takes the high temporal and spatial variation into consideration.A distance-dependent function is built to represent the stochastic model of the slant ionospheric delay derived from each reference station,and an error model is built for each reference station on a fve-minute piecewise *** user can interpolate ionospheric delay correction and the corresponding precision with an error function related to the distance and time of each reference *** the European Reference Frame(EUREF)Permanent GNSS(Global Navigation Satellite Systems)network(EPN),and SONEL(Système d’Observation du Niveau des Eaux Littorales)GNSS stations covering most of Europe,the efectiveness of our wide-area ionosphere constraint method for ppp-rtk is validated,compared with the method with a fxed ionosphere precision *** is shown that although the Root Mean Square(RMS)of the interpolated ionosphere error is within 5 cm in most of the areas,it exceeds 10 cm for some areas with sparse reference stations during some periods of *** convergence time of the 90th percentile is 4.0 and 20.5 min for horizontal and vertical directions using Global Positioning System(GPS)kinematic solution,respectively,with the proposed *** convergence is faster than those with the fxed ionosphere precision values of 1,8,and 30 *** improvement with respect to the latter three solutions ranges from 10 to 60%.After integrating the Galileo navi

关键词： ppp-rtk Ionosphere precision Cross-validation Rapid ambiguity resolution

Performance analysis of frequency‑mixed ppp‑rtk using low‑cost GNSS chipset with different antenna configurations

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Satellite Navigation 2023年第3期4卷 54-71页

作者： Xingxing Li Hailong Gou Xin Li Zhiheng Shen Hongbo Lyu Yuxuan Zhou Hao Wang Qian Zhang School of Geodesy and Geomatics Wuhan University129 Luoyu RoadWuhan 430079HubeiChina Hubei Luojia Laboratory Wuhan University129 Luoyu RoadWuhan 430079HubeiChina Tianjin Navigation Instrument Research Institute 268 Dingzigu 1St RoadTianjin 300130China Meituan 6 Wangjing East RoadChaoyang DistrictBeijingChina

Low-cost Global Navigation Satellite System(GNSS)devices offer a cost-effective alternative to traditional GNSS systems,making GNSS technology accessible to a wider range of ***,low-cost GNSS devices often face the challenges in effectively capturing and tracking satellite signals,which leads to losing the observations at certain ***,the observation peculiarities of low-cost devices are in contradistinction to those of traditional geodetic GNSS *** this contribution,a low-cost ppp-rtk model that considers the unique characteristics of different types of measurements is developed and its performance is fully evaluated with u-blox F9P receivers equipped with three distinctive antenna configurations:vertical dipole,microstrip patch,and helix *** static and kinematic experiments in different scenarios are conducted to verify the effectiveness of the proposed *** results indicate that the mixed-frequency ppp-rtk model outperforms the traditional dual-frequency one with higher positioning accuracy and fixing *** the three low-cost antennas tested,the vertical dipole antenna demonstrates the best performance under static conditions and shows a comparable performance as geodetic antennas with a positioning accuracy of 0.02 m,0.01 m and 0.07 m in the east,north,and up components,*** low-speed kinematic scenarios,the helix antenna outperforms the other two with a positioning accuracy of(0.07 m,0.07 m,0.34 m).Furthermore,the helix antenna is also proved to be the best choice for vehicle navigation with an ambiguity fixing rate of over 95%and a positioning accuracy of(0.13 m,0.14 m,0.36 m).

关键词： ppp-rtk Low-cost device Rapid ambiguity resolution Centimeter-level positioning accuracy Performance assessment

Principle and performance of multi-frequency and multi-GNSS ppp-rtk

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Satellite Navigation 2022年第1期3卷 128-138,I0005页

作者： Xingxing Li Bo Wang Xin Li Jiaxin Huang Hongbo Lyu Xinjuan Han School of Geodesy and Geomatics Wuhan University129 Luoyu RoadWuhan 430079China Technische Universitat Berlin(TUB) Straße des 17.Juni10623 BerlinGermany

ppp-rtk which takes full advantages of both Real-Time Kinematic(rtk)and Precise Point Positioning(ppp),is able to provide centimeter-level positioning accuracy with rapid integer Ambiguity Resolution(AR).In recent years,with the development of BeiDou Navigation Satellite System(BDS)and Galileo navigation satellite system(Galileo)as well as the modernization of Global Positioning System(GPS)and GLObal NAvigation Satellite System(GLONASS),more than 140 Global Navigation Satellite System(GNSS)satellites are ***,the new-generation GNSS satellites are capable of transmitting signals on three or more ***-GNSS and multi-frequency observations become available and can be used to enhance the performance of *** this contribution,we develop a multi-GNSS and multi-frequency ppp-rtk model,which uses all the available GNSS observations,and comprehensively evaluate its performance in urban environments from the perspectives of positioning accuracy,convergence and fxing *** this method,the precise atmospheric corrections are derived from the multi-frequency and multi-GNSS observations of a regional network,and then disseminated to users to achieve ppp rapid ***,a cascade ambiguity fxing strategy using Extra‐Wide‐Lane(EWL),Wide-Lane(WL)and L1 ambiguities is employed to improve the performance of ambiguity fxing in the urban *** experiments in diferent scenarios such as suburbs,overpasses,and tunnels are conducted to validate the proposed *** suburbs,an accuracy of within 2 cm in the horizontal direction and 4 cm in the vertical direction,with the fxing percentage of 93.7%can be *** to the GPS-only solution,the positioning accuracy is improved by 87.6%.In urban environments where signals are interrupted frequently,a fast ambiguity re-fxing can be achieved within 5 ***,multifrequency GNSS signals can further improve the positioning performance of ppp-rtk,particularly in the case of

关键词： Multi-frequency Multi-GNSS ppp-rtk Rapid ambiguity resolution Vehicle navigation

非差非组合电离层加权ppp-rtk/INS紧组合模型

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地球物理学报 2023年第9期66卷 3650-3661页

作者：柯成刘腾查九平侯鹏宇张宝成中国科学院精密测量科学与技术创新研究院大地测量与地球动力学国家重点实验室武汉430071 中国科学院大学地球与行星科学学院北京100049

ppp-rtk是一种可实现快速模糊度固定的精密单点定位(ppp)技术,它的组成包括由多个接收机构成的网端用于生成各类精密改正产品,以及单站构成的用户端以实现快速高精度定位.当网端是中等尺度参考网,即参考站之间的站间距在百余公里,有必... 详细信息

ppp-rtk是一种可实现快速模糊度固定的精密单点定位(ppp)技术,它的组成包括由多个接收机构成的网端用于生成各类精密改正产品,以及单站构成的用户端以实现快速高精度定位.当网端是中等尺度参考网,即参考站之间的站间距在百余公里,有必要引入电离层加权模型,其优势在于能够增强ppp-rtk函数模型.此外,从非差非组合观测值层面出发,其能够兼容单/双频用户.然而,单凭卫星导航定位技术很难在复杂环境下提供连续导航定位服务.本文从理论到应用,基于非差非组合电离层加权ppp-rtk模型,构建了单/双频ppp-rtk/INS紧组合模型.在距离最近参考站约70 km的区域进行了两次车载实验,并分别利用单/双频ppp-rtk以及ppp-rtk/INS紧组合模型的实时处理结果进行分析.结果表明,双频ppp-rtk/INS紧组合在半城市环境能从分米级定位提升至厘米级定位,重收敛时间从11 s提升至3.6 s.以水平偏差小于0.2 m评估定位可用率,双频ppp-rtk/INS紧组合模型在半城市环境和复杂城市环境中分别可实现100%和96.97%.考虑车道级定位,单频ppp-rtk/INS紧组合模型在半城市和复杂城市环境内分别可实现分米以及亚米级定位,其在水平偏差在0.5 m内的可用率分别为98.97%和76.1%.

关键词：全球导航卫星系统(GNSS) ppp-rtk 非差非组合电离层加权惯性导航系统(INS) 组合导航

CDMA+FDMA非差非组合区域ppp-rtk

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测绘学报 2023年第2期52卷 183-194页

作者：侯鹏宇张宝成刘腾查九平中国科学院精密测量科学与技术创新研究院大地测量与地球动力学国家重点实验室湖北武汉430071 中国科学院大学地球与行星科学学院北京100049

为顺应多频多模发展趋势,ppp-rtk技术正逐步由传统的消电离层组合数据处理模式发展为非差非组合模式。现有非差非组合ppp-rtk研究多针对码分多址(CDMA)系统,而频分多址(FDMA)ppp-rtk受频率间偏差的影响难以实现。本文针对区域参考网,提... 详细信息

为顺应多频多模发展趋势,ppp-rtk技术正逐步由传统的消电离层组合数据处理模式发展为非差非组合模式。现有非差非组合ppp-rtk研究多针对码分多址(CDMA)系统,而频分多址(FDMA)ppp-rtk受频率间偏差的影响难以实现。本文针对区域参考网,提出了一种CDMA+FDMA多系统非差非组合ppp-rtk模型,该模型能灵活处理多频多模两类信号体制的数据。为了实现FDMA ppp-rtk,本文利用整数可估理论保证了模糊度固定的严密性,该FDMA ppp-rtk模型适用于同款接收机的参考网。本文采集了香港地区连续运行参考网的GPS、BDS、Galileo、GLONASS数据进行试验,数据采样率为30 s。服务端结果表明,由于各产品之间高度相关,对组合产品进行精度评估是有必要的。组合卫星钟差、卫星相位偏差和电离层产品后,精度达到毫米级,满足用户精密改正的要求。用户端仿动态定位结果表明,GPS、BDS和Galileo单系统ppp-rtk分别在5、1和3 min实现了模糊度首次固定,定位误差收敛至厘米级。GLONASS组合GPS实现了首历元模糊度固定,定位精度比GPS单系统提升了9%、12%、14%(东、北、天3个方向)。BDS组合GPS同样能实现首历元模糊度固定,定位精度比GPS单系统提升了29%、22%、18%,额外加入Galileo观测值,定位精度进一步提升了12%、8%、16%。再加入GLONASS观测值,定位精度仍有小幅提升(4%、3%、8%)。

关键词： GNSS 频分多址 ppp-rtk 模糊度固定整数可估

BDS-3 ppp-B2b精密轨道辅助非差非组合ppp-rtk

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测绘学报 2023年第9期52卷 1449-1459页

作者：查九平张宝成刘腾张啸侯鹏宇袁运斌李子申中国科学院精密测量科学与技术创新研究院大地测量与地球动力学国家重点实验室湖北武汉430071 广州市城市规划勘测设计研究院广东广州510060 中国科学院空天信息创新研究院北京100094

BDS-3通过其高轨道卫星的B2b信号向亚太地区用户免费提供了标准精密单点定位服务,但ppp近半小时的收敛时间和分米级的实时定位精度不利于其后续应用推广。因此,本文提出了融合ppp-B2b精密卫星轨道产品与区域稀疏参考站观测数据的增强定... 详细信息

BDS-3通过其高轨道卫星的B2b信号向亚太地区用户免费提供了标准精密单点定位服务,但ppp近半小时的收敛时间和分米级的实时定位精度不利于其后续应用推广。因此,本文提出了融合ppp-B2b精密卫星轨道产品与区域稀疏参考站观测数据的增强定位方法,即基于ppp-B2b的非差非组合精密单点实时动态定位技术,并采用站间单差电离层伪观测值对其进行约束,以实现电离层延迟等参数的严密估计。此外,本文还重点设计了区域电离层斜延迟及其精度信息的单星实时建模方案,有效压缩播发数据量的同时提高了ppp-rtk的应用性能。在此基础上,利用京津区域参考网对上述方法进行了近实时验证。结果表明:本文方法提供的电离层斜延迟修正精度可达2.2 cm(BDS-3)/2.4 cm(GPS);超95%BDS-3+GPS定位样本的绝对误差可在2 s内收敛到水平2 cm与垂直5 cm,而且定位误差收敛后可实现水平毫米级与垂直厘米级的定位精度。

关键词： BDS-3 ppp-B2b 非差非组合 ppp-rtk 电离层斜延迟单星建模

Realization and performance assessment of uncombined Multi-GNSS ppp-rtk for expressway scenarios

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Realization and performance assessment of uncombined Multi-G...

Integrity Monitoring of ppp-rtk based on Multiple Hypothesis Solution Separation

第十三届中国卫星导航年会

作者： Xiao Yin Hongzhou Chai Liang Zhao Yize Zhang College of Environment and Resource Sciences Zhejiang A&F University School of Geospatial Information PLA Information Engineering University Shanghai Astronomical Observatory Chinese Academy of Sciences

Network Real-time Kinematic（Nrtk） technology performs the error corrections in the Observation Space Representation（OSR） format, thereby being regardless of the temporal characteristics of various errors, and increasing transmission rate of corrections, while ppp usually requires a long initial convergence time, which restricts real-time mass-market applications. As a result, a new method, namely ppp-rtk, that combines the advantages of the two technologies began to develop. The current ppp-rtk technology mostly uses the "wide-lane/narrow-lane" method to achieve undifferenced ambiguity resolution, however, it is easy to amplify observation noise and is not easy to extend to multi-frequency observation. To this end, this paper derives the theoretical feasibility of ppp-rtk ambiguity resolution based on the original frequency observation, and conducts GPS/Galileo/BDS ppp-rtk tests in the scene of the intercity expressway from Hangzhou to Shanghai. Taking Multi-GNSS Nrtk fixed solutions as the true coordinates, the results show that the correct fixing rate of Multi-GNSS ppp-rtk is better than 90%, the positioning accuracy in horizontal and vertical direction are better than 3 cm and 5 cm, respectively, and the probability of reconvergence time less than 10 s is over than 95%, which can basically meet the requirements of mass-market applications such as automotive driving and drones.

关键词： Multi-GNSS Uncombined ppp-rtk Ambiguity resolution expressway

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Integrity Monitoring of PPP-RTK based on Multiple Hypothesis...

Research on Integrity Evaluation Method for ppp-rtk Service End

第十三届中国卫星导航年会

作者： Shizhuang Wang Xingqun Zhan Yingchao Xiao Yawei Zhai Shanghai Jiao Tong University GeeSpace Co.Ltd

Recent progress for high-precision positioning mainly focused on ppp-rtk,which is a precise point positioning(ppp) technique based on a realtime kinematic(rtk) ***-rtk is expected to become the mainstream positioning solution for various intelligent transportation systems(ITS) such as autonomous driving,unmanned aerial vehicles,and urban air *** studies on ppp-rtk mainly focused on improving navigation ***,for safety-critical applications,integrity is also an important performance *** ppp-rtk is usually implemented using a Kalman filter(KF),the well-known integrity monitoring schemes developed for leastsquares-based systems cannot be directly applied to *** considering the time-sequential nature of KF,we propose a user-end integrity monitoring scheme of ppp-rtk based on multiple hypothesis solution separation(MHSS) to offer high-reliability and high-precision position solutions with realtime integrity *** proposed scheme includes two key functions:real-time fault detection and rigorous protection level(PL) *** scheme captures both the faults from ppp-rtk service products and those faults introduced at the user *** are carried out with real data and simulated fault *** results suggest the effectiveness of the proposed scheme and indicate that multi-constellation ppp-rtk can offer position solutions with decimeter-level PLs(integrity risk:10

关键词： ppp-rtk Integrity Monitoring Fault Detection Protection Level

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Research on Integrity Evaluation Method for PPP-RTK Service ...