王颖喆, 陶贤露, 朱锋, 刘万科, 张小红, 吴明魁. 利用智能手机实现GNSS原始观测值的高精度差分定位[J]. 武汉大学学报 ( 信息科学版), 2021, 46(12): 1941-1950. DOI: 10.13203/j.whugis20210280
引用本文: 王颖喆, 陶贤露, 朱锋, 刘万科, 张小红, 吴明魁. 利用智能手机实现GNSS原始观测值的高精度差分定位[J]. 武汉大学学报 ( 信息科学版), 2021, 46(12): 1941-1950. DOI: 10.13203/j.whugis20210280
WANG Yingzhe, TAO Xianlu, ZHU Feng, LIU Wanke, ZHANG Xiaohong, WU Mingkui. High Accuracy Differential Positioning with Smartphone GNSS Raw Measurements[J]. Geomatics and Information Science of Wuhan University, 2021, 46(12): 1941-1950. DOI: 10.13203/j.whugis20210280
Citation: WANG Yingzhe, TAO Xianlu, ZHU Feng, LIU Wanke, ZHANG Xiaohong, WU Mingkui. High Accuracy Differential Positioning with Smartphone GNSS Raw Measurements[J]. Geomatics and Information Science of Wuhan University, 2021, 46(12): 1941-1950. DOI: 10.13203/j.whugis20210280

利用智能手机实现GNSS原始观测值的高精度差分定位

High Accuracy Differential Positioning with Smartphone GNSS Raw Measurements

  • 摘要: 受限于低成本、低功耗的全向线性极化天线和导航芯片,手机原始的全球导航卫星系统(global navigation satellite system,GNSS)观测数据存在伪距噪声大、多路径效应严重以及载波相位观测值周跳频繁等特点,从而造成定位不准、轨迹不平滑等问题。基于此,提出了一种速度约束的双频实时伪距差分(real time differential,RTD)/实时动态差分(real time kinematic,RTK)自适应切换滤波定位算法,充分发挥L5/E5a/B2a信号抗多径能力强的优势,提升定位精度和模糊度固定率;使用速度约束载体历元间位置变化的方法,有效平滑了伪距噪声;通过RTD/ RTK自适应切换的方式,保证了不同观测条件下获得稳定的高精度位置信息。基于Huawei Mate40智能手机的实测定位结果表明,静态定位和行人动态定位的模糊度固定率分别为99.67%和57.99%;行人在半遮挡环境的动态定位平面精度约为0.5 m,城市典型环境下车载动态定位中超过70%历元的平面误差在1.5 m以内,实现了手机用户在城市环境下的高精度导航定位。

     

    Abstract:
      Objectives  The demand for smartphones to provide stable high accuracy navigation and positioning service is increasing. However, limited by low-cost and low-power hardware of smartphones, there are high pseudo-range noise, serious multipath effects and frequent cycle slips, which lead to poor positioning performance.
      Methods  The paper supposes a velocity-constraint dual-frequency RTD(real time differential)/RTK(real time kinematic) automatic switching navigation model. Firstly, L5/E5a/B2 signals are more resistant to multipath effects and help to improve the positioning performance. Secondly, the multipath noise is smoothed effectively by using velocity-constraint filtering model. Finally, RTD/RTK automatic switching strategy improves the stability and accuracy of positioning, especially under urban environment where continuous carrier phase measurements are insufficient.
      Results and Conclusions  This paper assesses the positioning performance of the Huawei Mate40 and the results show that the fixed rates of static positioning and pedestrian positioning are 99.67% and 57.99% respectively. Horizontal positioning accuracy of the pedestrian test is about 0.5 m. The vehicle positioning results show that more than 70% epochs can reach lane-level accuracy, which shows that the method supposed in this paper can basically meet the smartphone users' needs of high accuracy navigation and positioning service under urban environment.

     

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