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首页> 外文会议>International technical meeting of the Satellite Division of the Institute of Navigation >Ultra-wideband Radio Aided Carrier Phase Ambiguity Resolution in Real-Time Kinematic GPS Relative Positioning
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Ultra-wideband Radio Aided Carrier Phase Ambiguity Resolution in Real-Time Kinematic GPS Relative Positioning

机译：实时运动学GPS相对定位中的超宽带无线电辅助载波相位模糊度解决方案

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In this research, ultra-wideband radios (UWBs)are integrated into the real-time kinematic (RTK)algorithm using differential GPS techniques to achieve ahighly precise relative positioning vector between GPSantennas. This has potential applications including anautonomous leader-follower scenario or an unmannedaerial refueling scenario. The UWBs give a rangemeasurement between antennas, while the RTK solutiongives a three dimensional relative positioning vector.This UWB range measurement can be integrated into theRTK algorithm to add robustness and increase accuracy.When two GPS receivers are within a closeproximity, most of the errors that degrade the GPS signalare correlated between the two receivers and can bemitigated by using differential techniques. This can bedone using either a static base station, as is the case forRTK, or using a dynamic base, as is the case for DRTK.These algorithms are explained and results are shown inthis paper.The difficulty of the RTK algorithm is that itmust resolve ambiguities in the carrier phase once thereceiver has locked on to a satellite’s signal. The leastsquares ambiguity decorrelation adjustment (LAMBDA)method was created to help resolve these ambiguities.When the baseline between GPS antennas is known, thisknown baseline can be used as a constraint and can beintegrated into the LAMBDA method, resulting in a CLAMBDAmethod. This research uses the UWB rangemeasurements in place of the known baseline in the CLAMBDAmethod and results comparing it to theLAMBDA method are presented.By looking at the experimental results, someconclusions can be made. As long as the accuracy of theUWB range measurements is within a few centimeters, itis shown that it can be used in the C-LAMBDA methodas the baseline constraint in helping to resolve the carrierphase ambiguities.
机译：在这项研究中，超宽带无线电（UWB） 被集成到实时运动学（RTK）中 使用差分GPS技术的算法 GPS之间的高精度相对定位矢量 天线。这具有潜在的应用，包括 自主领导者跟随场景或无人驾驶 空中加油场景。超宽带给出了一个范围 天线之间的测量，而RTK解决方案 给出三维相对定位矢量。 此UWB范围测量可以集成到 RTK算法增加了鲁棒性并提高了准确性。 当两个GPS接收器都在附近时 接近性，大多数会使GPS信号降级的误差 在两个接收器之间是相关的，并且可以是 通过使用差分技术来缓解。这可以是 使用静态基站完成此操作，例如 RTK或使用动态基数，例如DRTK。 解释了这些算法，结果显示在 这篇报告。 RTK算法的难点在于 一旦 接收器已锁定卫星信号。至少 平方模糊解相关调整（LAMBDA） 创建了帮助解决这些歧义的方法。 当知道GPS天线之间的基线时，这 已知基线可以用作约束，并且可以 集成到LAMBDA方法中，从而产生CLAMBDA 方法。本研究使用UWB范围 测量值代替CLAMBDA中的已知基线 方法和结果与 介绍了LAMBDA方法。 通过观察实验结果， 可以得出结论。只要准确 UWB范围的测量范围在几厘米以内 显示可以在C-LAMBDA方法中使用 作为帮助解决载体的基线约束 相位模糊性。

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