Accuracy Assessment of Multi-frequency and Multi-GNSS Velocity Estimation With Time Differenced Carrier Phase Method
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摘要: 基于载波相位历元间差分测速方法，建立了GNSS单点测速的数学模型，分析了其误差源，并结合实测数据对多GNSS系统各频点及其无电离层组合、不同系统组合的测速精度进行了对比分析。实验结果表明：不同系统不同频点的测速精度有所差异，BDS的B1I、B1C、B3I、B2a频点和Galileo的E1、E5a、E6、E5b、E5频点的测速精度相当，水平方向优于1.5 mm/s，高程方向优于3 mm/s；BDS的B2I和GPS的L1、L2、L5频点的测速精度相当，水平方向在1.5-2 mm/s，高程方向在3-4 mm/s；GLONASS的G1、G2频点测速精度最差，水平方向在3-4 mm/s，高程方向在5-5.5 mm/s；双频无电离层组合由于放大了观测值噪声，其测速精度低于单频。此外，多GNSS组合增加了可见卫星数，降低了PDOP值，能够显著提高测速精度。相对于单GPS系统，GPS/BDS/GLONASS/Galileo组合测速精度在水平方向提高40%，高程方向提高46%；在截止高度角40°时，水平方向速度优于1 cm/s、高程方向优于2 cm/s下的测速可用率由48%提高到98%。Abstract: Based on the method of time differenced carrier phase, the mathematical model of multi-GNSS velocity estimation is introduced and the error sources are analyzed. Using the real data, the accuracy and performance of velocity determination at each GNSS frequency point and multi-GNSS are tested and analyzed. The results show that the accuracy of velocity determination at different frequency is different, the velocity estimation at B1I, B1C, B3I frequency points in BDS and E1, E5a, E6, E5b, E5 frequency points in Galileo have the same precision, with the horizontal direction better than 1.5 mm/s and the vertical direction better than 3 mm/s; the velocity estimation accuracy at B2I frequency in BDS is the same as that at L1, L2 and L5 frequency points in GPS with the horizontal accuracy of 1.5-2 mm/s and the vertical accuracy of 3-4 mm/s; the velocity estimation accuracy at G1 and G2 frequency in GLONASS is the worst, with 3-4 mm/s in horizontal direction and 5-5.5 mm/s in vertical direction. The accuracy of double frequency ionospheric free combination is lower than that of single frequency due to the amplification of the observation noise. In addition, the combination of multiple GNSS increases the number of visible satellites, reduces the PDOP value, and can significantly improve the velocity measurement accuracy. Compared with the single GPS system, the accuracy of GPS/BDS/GLONASS/Galileo velocity estimation is improved by 40% in horizontal direction and 46% in vertical direction. At 40° elevation cut-off, the availability rate is improved from 48% to 98% under the condition of the horizontal velocity better than 1 cm/s and the vertical direction better than 2 cm/s.
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Key words:
- GNSS /
- velocity estimation /
- TDCP /
- multi-frequency
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