关于低成本智能终端的强大的自适应RTK定位的研究
Huizhong Zhu1, Jiabao Fan1, Jun Li1
1School of Geomatics, Liaoning Technical University (LNTU), Fuxin 123000, China.
Sensors (Basel, Switzerland)
|March 13, 2024
概括
这项研究引入了一种强大的自适应卡尔曼波器,以提高全球导航卫星系统 (GNSS) 在城市地区的定位准确度. 该方法增强了智能手机和低成本接收器的实时动态定位 (RTK),显著提高了准确性.
科学领域:
- 地理学工程 工程地质学
- 导航系统 导航系统
- 信号处理 信号处理
背景情况:
- 低成本智能终端 全球导航卫星系统 (GNSS) 的性能受到硬件限制和复杂的城市环境的限制,影响定位准确性和稳定性.
- 现有的GNSS解决方案在建筑区中常见的信号干扰和多路径效应,需要先进的错误缓解技术.
研究的目的:
- 开发和评估一款强大的自适应卡尔曼波器,旨在提高低成本GNSS接收器的定位精度和稳定性,特别是在具有挑战性的城市环境中.
- 为了减轻异常值和系统模型错误对智能手机和专用低成本接收器实时动态定位 (RTK) 性能的影响.
主要方法:
- 在卡尔曼波器算法中实施一个强大的估计方法,以识别和下加权异常GNSS观测.
- 整合地球测量与地球物理研究所III (IGG III) 功能进行自适应调节,使用等效重量矩阵和自适应因子修改先前的信息.
- 定义一个稳定系数,以动态调整基于稳定前后估计的定位偏差权重.
主要成果:
- 静态实验表明,在多个设备的定位准确度显著提高:小米8 (29.6%),华为P40 (31.3%),华为mate40 (32.1%),和一个低成本的M8接收器 (30.7%).
- 动态实验产生了类似的精度增强:小米8 (28.3%),华为P40 (32.9%),华为mate40 (35.4%) 和M8接收器 (26.2%).
- 在智能手机定位性能和强大的RTK定位之间观察到正相关性;然而,在非常高的精度水平下,强度有效性下降,这表明对干扰的敏感性增加.
结论:
- 拟议的强大的自适应卡尔曼波器有效地提高了GNSS定位准确度和稳定性,用于各种环境,特别是城市地区的低成本智能终端.
- 该方法成功地减少了异常值和系统模型错误的影响,提高了RTK定位的可靠性.
- 虽然有利,但在高精度水平下降的强度表明需要进一步研究用于高精度应用的专门干扰缓解.
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