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Single-frequency BDS/GPS RTK With Low-cost U-blox Receivers

机译：具有低成本U-Blox接收器的单频BDS / GPS RTK

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Technology of low-cost single-frequency RTK (real time kinematic) is booming in popular GNSS application, however, the poor data quality and hardware performance of low-cost receivers bring about great challenges to its positioning algorithm. In this contribution, a BDS/GPS single-frequency inexpensive navigation and positioning (SINAP) system is developed to achieve high-precise high-stability single-frequency RTK positioning with low-cost GNSS receivers. In data processing, we implement the kalman filter estimation with constant velocity (CV) and constant acceleration (CA) dynamic models. Since it is not feasible to fix the whole integer ambiguities in real applications, we utilize the PAR (partial ambiguity resolution) method to acquire a subset of integer ambiguities effectively. Experiments with static and kinematic data were carried out by using low-cost single-frequency u-blox receivers. To emphasize the benefits of the proposed method, we compare the performance of SINAP to those of the open source software RTKLIB and the u-blox chip. It is shown that results of SINAP are competitive to the ones of u-blox and outperform the ones of RTKLIB. Moreover, the performance of GPS-only, BDS-only and combination of BDS/GPS are investigated. The results reveal that using BDS/GPS can achieve higher fix-rate and higher positioning accuracy than using GPS or BDS only. Additionally, with kalman filter, we compare the CA and the CV dynamic models using kinematic data, which illustrates that both models can provide comparatively ideal results with no obvious difference.
机译：低成本单频RTK技术（实时运动）在流行的GNSS应用中蓬勃发展，但低成本接收器的数据质量差和硬件性能带来了对其定位算法的巨大挑战。在该贡献中，开发了BDS / GPS单频廉价导航和定位（SINAP）系统，以实现具有低成本GNSS接收器的高精度高稳定单频RTK定位。在数据处理中，我们利用恒定速度（CV）和恒定加速度（CA）动态模型来实现卡尔曼滤波器估计。由于固定实际应用中的整个整数歧义是不可行的，因此我们利用PAR（部分歧义分辨率）方法有效地获取整数歧义的子集。通过使用低成本单频U-Blox接收器进行静态和运动学数据的实验。为了强调提出的方法的好处，我们将SINAP的性能与开源软件RTKLIB和U-BLOX芯片的性能进行比较。结果表明，SINAP的结果对U-Blox中的结果具有竞争力，优于RTKLIB的结果。此外，研究了GPS的性能，仅用于BDS / GPS的组合。结果表明，使用BDS / GPS可以实现比使用GPS或BDS更高的固定率和更高的定位精度。此外，使用卡尔曼滤波器，我们使用运动学数据进行比较CA和CV动态模型，说明两种型号都可以提供相对理想的结果，没有明显的差异。

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