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首页> 外文会议>14th international technical meeting of the Satellite Division of the Institute of Navigation (ION GPS-2001) >Single-Epoch Ambiguity Resolutionfor Highway and Racetrack Applications
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Single-Epoch Ambiguity Resolutionfor Highway and Racetrack Applications

机译：单历时歧义解决方案 r n适用于公路和赛马场应用

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摘要

The development of reliable real-time kinematic (RTK)rnGPS on most highways will enable many safety andrnconvenience applications, such as lane departure warning.rnEventually, GPS could play an important role in fullyrnautomated highways. On the racetrack, RTK GPS canrnshow car handling characteristics and driver performancernto high precision.rnReal-time centimeter-level accuracy GPS for highway andrnmotor racing applications requires specialized algorithmsrnand L1/L2 receivers. The greatest difficulty encounteredrnwith this system is the frequent obscurations that causernthe receiver to lose track of the signal. This results in arnloss of the L2 carrier phase for many seconds (test resultsrnfor a few popular brands of receivers are included), andrneven after track is reestablished, the accuracy is degradedrnfor a couple of seconds.rnThe term single-epoch ambiguity resolution is somewhatrnof a misnomer in that GPS receivers do have smoothingrnfilters that introduce a significant correlation betweenrnsuccessive epochs when sampling rates are 1 Hz orrnhigher, and multipath errors are highly correlated in time.rnIn this paper, autocorrelation functions for the residualsrnafter correct ambiguity resolution are shown. The singleepochrnmethod eliminates the prolonged carrying ofrnincorrect integer solutions that occasionally occurs withrnKalman filter and other multiple-epoch algorithms. After encountering an obstacle, the single-epoch method providesrna solution as soon as the receiver recovers anrnadequate number of signals, although the probability ofrnselecting the correct integers will improve after thernreceiver has had a few seconds of settling time. Overrnshort baselines (a few kilometers) and with six or morernsatellites available, ambiguities are resolved correctlyrnover 99% of the time. In clear areas, such as thernButtonwillow, California, racetrack, correct single-epochrnambiguity resolution has been demonstrated over 99.8%rnof the time.rnVehicular applications can use altitude aiding to helprnsignificantly in resolving the ambiguities. Code differentialrnGPS gives the location on the road with sufficientrnaccuracy so that an accurate height can be found from arndetailed road database and used as a constraint in findingrnthe solution. The algorithm has been tested in a series ofrnrooftop static tests during which the antennas wererncovered for short periods of time. On a relatively clearrnstretch of freeway with only one overpass, correctrnambiguity resolution was demonstrated 88% of the timernwithout altitude aiding and 96% of the time with altitudernaiding. Over a more obscured stretch of freeway withrntrees and hills, ambiguities were correctly resolved 62%rnof the time without altitude aiding and 91% of the timernwith altitude aiding.
机译：在大多数高速公路上开发可靠的实时运动（RTK）GPS可以实现许多安全和便利的应用，例如车道偏离警告。最终，GPS可以在全自动高速公路中发挥重要作用。在赛道上，RTK GPS可以高精度显示汽车的操纵特性和驾驶员性能。用于公路和赛车应用的实时厘米级精度GPS需要专门的算法和L1 / L2接收器。该系统遇到的最大困难是频繁的模糊，导致接收器失去对信号的跟踪。这会导致L2载波相位持续数秒的损耗（包括一些流行品牌接收机的测试结果），并且甚至在重新建立轨道之后，精度也会降低几秒钟。 GPS接收器确实有误称，因为当采样率高于1 Hz或更高时，连续滤波器之间会引入显着的相关性，并且多径误差在时间上高度相关。单周期方法消除了卡尔曼滤波器和其他多周期算法偶尔会出现的长时间携带错误的整数解的问题。遇到障碍后，单历元方法会在接收机恢复到足够数量的信号后立即提供解决方案，尽管在接收机具有几秒钟的建立时间之后，选择正确整数的可能性会有所提高。基线过短（几公里）并且有六个或更多的可用卫星，可以在99％的时间内正确解决歧义。在诸如加利福尼亚州巴顿威洛的赛马场等清晰地区，正确的单历时模糊度时间已证明超过99.8％rno。车载应用程序可以使用海拔高度帮助极大地解决歧义。 GPS的代码差分提供了道路上足够的准确性，因此可以从详细的道路数据库中找到准确的高度，并将其用作寻找解决方案的约束。该算法已在一系列屋顶天台静态测试中进行了测试，在这些测试中，短时间内发现了天线。在只有一个立交桥的相对较清晰的高速公路上，在没有高度帮助的情况下，正确的歧义度分辨率显示为88％的时间，而在没有高度帮助的情况下，则为96％。在高速公路和树木丛生的山丘上，模糊性得到了正确的解决：不使用海拔高度辅助的时间占62％的时间，使用海拔高度辅助的时间占91％的时间。

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