RANSAC-based instantaneous real-time kinematic positioning with GNSS triple-frequency signals in urban areas

IF 3.9 2区地球科学 Q1 GEOCHEMISTRY & GEOPHYSICS

Journal of Geodesy Pub Date : 2024-04-06 DOI:10.1007/s00190-024-01833-6

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引用次数: 0

Abstract

The demand for high-precision positioning has risen substantially in modern urban settings. In that regard, Global Navigation Satellite Systems (GNSS) offer several advantages such as global coverage, real-time capability, high accuracy, ease of use, and cost-effectiveness. The accuracy of GNSS-based positioning, however, suffers in urban environments due to signal blockage, reflection, and diffraction, which makes it difficult to fix ambiguities correctly within a real-time kinematic (RTK). To address this issue, this paper applies random sample consensus (RANSAC) to develop a novel single-epoch triple-frequency RTK positioning method. In our proposed method, the ambiguities of the extra-wide-lane, wide-lane, and original frequencies are resolved sequentially. RANSAC then detects and excludes incorrectly fixed ambiguities. To validate the effectiveness of the proposed method, two static experiments (cases 1 and 2) and one dynamic experiment (case 3) were conducted in representative urban areas. The findings demonstrate that the proposed method outperforms all comparative methods in positional availability, with comparable positional accuracy in terms of root-mean-square errors (RMSEs). In cases 1, 2, and 3, the proposed method achieves 3D RMSEs of 2.74, 4.29, and 20.35 cm, and the positional availabilities of 100%, 75.0%, and 73.1%, using a 10-degree mask angle (and a carrier-to-noise ratio (C/N₀) threshold 35 dB-Hz). The corresponding RMSEs (positional availabilities) of comparative methods are from 1.51 to 4.04 cm (75.7 to 96.3%) in case 1, 4.19 to 7.78 cm (34.5 to 49.9%) in case 2, and 23.52 to 37.54 cm (15.4 to 33.9%) in case 3, respectively. Compared to these methods, the proposed method shows improvements of positional availabilities between 3.7 and 24.3 percentage points in case 1, between 25.1 and 40.5 percentage points in case 2, and between 39.2 and 57.7 percentage points in case 3.

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基于 RANSAC 的瞬时实时运动学定位与城市地区的 GNSS 三频信号

摘要现代城市对高精度定位的需求大幅增加。在这方面，全球导航卫星系统（GNSS）具有覆盖全球、实时性强、精度高、易于使用和成本效益高等优势。然而，由于信号阻塞、反射和衍射等原因，基于全球导航卫星系统的定位精度在城市环境中受到影响，这使得在实时运动学（RTK）中正确修正模糊定位变得十分困难。为解决这一问题，本文应用随机样本共识（RANSAC）开发了一种新型的单波段三频 RTK 定位方法。在我们提出的方法中，依次解决了超宽道、宽道和原始频率的模糊性问题。然后，RANSAC 检测并排除错误固定的模糊点。为了验证所提方法的有效性，在具有代表性的城市地区进行了两次静态实验（案例 1 和 2）和一次动态实验（案例 3）。实验结果表明，所提出的方法在位置可用性方面优于所有比较方法，就均方根误差（RMSE）而言，其位置准确性相当。在情况 1、2 和 3 中，使用 10 度掩膜角（载噪比 (C/N0) 门限为 35 dB-Hz），拟议方法的三维均方根误差分别为 2.74、4.29 和 20.35 厘米，定位精度分别为 100%、75.0% 和 73.1%。比较方法的相应均方根误差（位置可用性）分别为：情况 1 1.51 至 4.04 厘米（75.7% 至 96.3%），情况 2 4.19 至 7.78 厘米（34.5% 至 49.9%），情况 3 23.52 至 37.54 厘米（15.4% 至 33.9%）。与这些方法相比，建议的方法在情况 1 中提高了 3.7 至 24.3 个百分点，在情况 2 中提高了 25.1 至 40.5 个百分点，在情况 3 中提高了 39.2 至 57.7 个百分点。

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来源期刊

Journal of Geodesy 地学-地球化学与地球物理

CiteScore

8.60

自引率

9.10%

发文量

审稿时长

9 months

期刊介绍： The Journal of Geodesy is an international journal concerned with the study of scientific problems of geodesy and related interdisciplinary sciences. Peer-reviewed papers are published on theoretical or modeling studies, and on results of experiments and interpretations. Besides original research papers, the journal includes commissioned review papers on topical subjects and special issues arising from chosen scientific symposia or workshops. The journal covers the whole range of geodetic science and reports on theoretical and applied studies in research areas such as: -Positioning -Reference frame -Geodetic networks -Modeling and quality control -Space geodesy -Remote sensing -Gravity fields -Geodynamics