The Algorithms And Software Development Of GPS Moving Base RTK

Traditional carrier phase relative positioning technology can achieve the cm-level accuracy, but the base station should be fixed in the position which coordinate is known, on many occasions the coverage of a fixed base station is limited, which can’t satisfy the user’s dynamic application requirements, such as ocean fleet sailing, aerial refueling, carrier-based aircraft carrier, car relative positioning, etc., in which applications relative positioning method of fixed base station is difficult to applied. The KINRTK(move-to-move) positioning technology, can overcome insufficiencies of traditional relative positioning methods in these applications, it can acquire the precise positioning of rover station relative to the base station when the base station and rover station moving at the same time.This paper started the studying on the theory and application of GPS move-to-move positioning, by studyed the research contents of existing move-to-move positioning methods and algorithms, such as dynamic cycle slip detecting and repairing, dynamic integer ambiguity fixing, move-to-move baseline calculating, this paper grasped and achieved the algorithms of dynamic cycle slip detecting and repairing, dynamic integer ambiguity fixing, calculation of dynamic baseline, completed the algorithm research of GPS move-to-move positioning, completed the program design of GPS move-to-move positioning, analyzed and validated the program with the measured datas finally. The main work of this paper included:1. This paper analyzed the satellite observation equation, function models and error correction models, the error sources of single point positioning and dynamic positioning are analyzed in detailed. This paper particularly discussed the error and correction methods of the ionospheric delay, tropospheric delay, multipath effect, the observation noise, etc.2. This paper studied the common methods for dynamic cycle slip detecting and repairing deeply, such as the doppler method, the phase pseudorange combination method, the ionosphere residual method and the TurboEdit method. By combined the TurboEdit method with the ionosphere residual method, this paper proposeed a comprehensive method of cycle slip detecting and repairing. By analyzed and validated comprehensive method with the measured datas, this paper came to a conclusion that the integrated method can detect sensitive cycle combinations more effectively.3. This paper analyzed the calculating principle and common methods for dynamic integer ambiguity fixing, introduced the commonly used methods for OTF integer ambiguity fixing, deeply analyzed the algorithm principle and steps of the LAMBDA method, which has been widely used worldwide, and finally analyzed and validated methods with the measured datas, the result shows that the LAMBDA algorithm fixed rate reached 99%..4. This paper analyzed the influence of base station coordinate error on the calculation of move-to-move baseline, and deeply analyzed the Kalman filter mathematical model of dynamic positioning, this paper proposed move-to-move positioning model using three receivers, analyzed and validated the methods with measured datas, the results showed that the accuracy of move-to-move positioning reached the cm level.5. On the basis of the move-to-move positioning model and algorithm, this paper accomplished move-to-move program by using C language, analyzed and validated the program with the measured datas finally.