| 面向城市复杂环境的3种多频多系统GNSS单点高精度定位方法及性能分析 |
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| 引用本文： | 耿江辉,常华,郭将,栗广才,魏娜.面向城市复杂环境的3种多频多系统GNSS单点高精度定位方法及性能分析[J].测绘学报,2020,49(1):1-13. |
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| 作者姓名： | 耿江辉 常华 郭将 栗广才 魏娜 |
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| 作者单位： | 武汉大学卫星导航定位技术研究中心, 湖北 武汉 430079 |
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| 基金项目： | 国家自然科学基金（41674033） |
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| 摘 要： | 城市智能交通、自动驾驶等对高精度动态定位的需求为分米级甚至厘米级,但在城市复杂环境下信号遮挡、衰减和多径频繁发生,GNSS定位的可用性和精度严重降低。本文充分利用现有可用的多频多系统GNSS(GPS/BDS/Galileo/QZSS)数据,采用最新提出的单历元PPP宽巷模糊度固定方法(PPP-WAR),并与传统PPP方法和广域伪距增强精密定位方法进行对比试验,分析了这3种单点高精度定位方法在大都市高楼密布道路、小城镇狭窄道路和工业区开阔道路3种不同信号遮挡条件下的车载动态定位性能。结果表明,目前城市环境中的三频数据完整性高达94%以上,可满足基于多频GNSS单历元定位的需求。粗差阈值设定为3 m时,单历元PPP-WAR解在小城镇狭窄道路的水平定位误差RMS为0.41 m,达到了分米级定位精度,比广域伪距增强精密定位解和传统PPP解分别提高了53.9%和21.2%;3种方法在大都市高楼密布环境下的定位可用性均高于70%,在另外两种城市环境下的定位可用性均高于90%。粗差阈值0.5 m时,单历元PPP-WAR方法和传统PPP方法在小城镇狭窄道路环境中可用性依然可达~70%。单历元PPP-WAR方法受城市环境中4种典型地物(地下通道、高架桥、行道树和高楼)的影响最小。总之,在干扰因素多的城市复杂环境中单历元PPP-WAR方法更具优势,在干扰因素少的城市开阔环境中传统PPP方法更优。
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| 关 键 词： | 单点高精度定位 多频多系统GNSS 城市环境 单历元 宽巷模糊度固定 |
| 收稿时间： | 2019-04-16 |
| 修稿时间： | 2019-08-30 |
Three multi-frequency and multi-system GNSS high-precision point positioning methods and their performance in complex urban environment |
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| GENG Jianghui,CHANG Hua,GUO Jiang,LI Guangcai,WEI Na.Three multi-frequency and multi-system GNSS high-precision point positioning methods and their performance in complex urban environment[J].Acta Geodaetica et Cartographica Sinica,2020,49(1):1-13. |
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| Authors: | GENG Jianghui CHANG Hua GUO Jiang LI Guangcai WEI Na |
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| Institution: | GNSS Research Center, Wuhan University, Wuhan 430079, China |
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| Abstract: | High-precision applications, such as intelligent transportation and automated driving in urban environment, require a dynamic positioning accuracy at decimeter to centimeter level. However, GNSS performance (such as availability and positioning accuracy) in urban environments is strongly degraded by man-made and natural objects that obstruct satellite signals. Taking advantage of the available multi-frequency and multi-system GNSS (GPS/BDS/Galileo/QZSS) data, we adopt the new single-epoch PPP wide-lane ambiguity fixing method (PPP-WAR) for vehicle dynamic positioning. It is compared with the traditional PPP method and wide-area pseudorange enhanced precision positioning method in three typical urban environments with different complexity, including a road in metropolitan area, a narrow road in small town and an open road in industrial area. The integrity of triple-frequency GNSS data is currently up to 94% in urban area, which assures that single-epoch PPP-WAR method is applicable in complex urban area. It's shown that a positioning accuracy of 0.41 m in the horizontal direction is achieved using the single-epoch PPP-WAR method in the narrow road in town with the threshold of 3.0 m, which satisfies the accuracy requirement at decimeter level. The accuracy is largely improved by 53.9% and 21.2% compared with those of wide-area pseudorange enhanced precision positioning solutions and traditional PPP solutions, respectively. The availability of three methods in metropolitan area is higher than 70%, as well as more than 90% in small town and industrial area. The availability of PPP-WAR and traditional PPP can still reach ~70% with a strict threshold of 0.5 m. Four typical features (i.e. tunnels, crossovers, street trees and skyscrapers) in urban environment have the least impact on the performance of single-epoch PPP-WAR among the three methods. In sum, single-epoch PPP-WAR method has the best performance in complex urban environment with more obstructions, while traditional PPP method is the best in open urban environment with less obstructions. |
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| Keywords: | high-precision point positioning multi-frequency and multi-system GNSS urban environment single epoch wide-lane ambiguity resolution |
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