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首页> 美国卫生研究院文献>Sensors (Basel Switzerland) >Reducing the Effect of Positioning Errors on Kinematic Raw Doppler (RD) Velocity Estimation Using BDS-2 Precise Point Positioning
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Reducing the Effect of Positioning Errors on Kinematic Raw Doppler (RD) Velocity Estimation Using BDS-2 Precise Point Positioning

机译：使用BDS-2精确点定位减少定位误差对运动原始多普勒（RD）速度估计的影响

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摘要

In the traditional raw Doppler (RD) velocity estimation method, the positioning error of the pseudorange-based global navigation satellite system (GNSS) single point positioning (SPP) solution affects the accuracy of the velocity estimation through the station-satellite unit cosine vector. To eliminate the effect of positioning errors, this paper proposes a carrier-phase-based second generation of the BeiDou navigation satellite system (BDS-2) precise point positioning (PPP) RD velocity estimation method. Compared with the SPP positioning accuracy of tens of meters, the BDS-2 kinematic PPP positioning accuracy is significantly improved to the dm level. In order to verify the reliability and applicability of the developed method, three dedicated tests, the vehicle-borne, ship-borne and air-borne platforms, were conducted. In the vehicle-borne experiment, the GNSS and inertial navigation system (INS)-integrated velocity solution was chosen as the reference. The velocity accuracy of the BDS-2 PPP RD method was better than that of SPP RD by 28.4%, 27.1% and 26.1% in the east, north and up directions, respectively. In the ship-borne and air-borne experiments, the BDS-2 PPP RD velocity accuracy was improved by 17.4%, 21.4%, 17.8%, and 38.1%, 17.6%, 17.5% in the same three directions, respectively, compared with the BDS-2 SPP RD solutions. The reference in these two tests is the real-time kinematic (RTK) Position Derivation (PD)-based velocity.
机译：在传统的原始多普勒（RD）速度估计方法中，基于伪距的全球导航卫星系统（GNSS）单点定位（SPP）解决方案的定位误差会影响通过卫星站余弦矢量进行速度估计的准确性。为了消除定位误差的影响，本文提出了一种基于载波相位的北斗导航卫星系统第二代（BDS-2）精确点定位（PPP）RD速度估计方法。与数十米的SPP定位精度相比，BDS-2运动学PPP定位精度显着提高到了dm级。为了验证所开发方法的可靠性和适用性，进行了三个专用测试，即车载，舰载和空中平台。在车载实验中，选择了GNSS和惯性导航系统（INS）集成的速度解决方案作为参考。 BDS-2 PPP RD方法在东，北和上方向的速度精度分别比SPP RD高28.4％，27.1％和26.1％。在船载和空载实验中，与同方向相比，BDS-2 PPP RD速度精度在三个方向上分别提高了17.4％，21.4％，17.8％和38.1％，17.6％，17.5％。 BDS-2 SPP RD解决方案。这两个测试的参考是基于实时运动（RTK）位置导数（PD）的速度。

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