单频RTK动态解算的卡尔曼滤波算法研究

本文针对单频RTK提出了一种快速动态定位卡尔曼滤波算法,该方法使用C码和L1观测值,用模型改正对流层干延迟,双差大气延迟分解为测站大气天顶延迟和投影函数,与流动站位置以及站间单差模糊度组成观测方程进行卡尔曼滤波,得到单差模糊度浮点解及方差阵,通过星间求差得到双差模糊度浮点解及方差阵,结合MLAMBDA方法实时动态确定模糊度。经实测数据和IGS站数据验证该算法具有较好定位结果。

A Kalman filter algorithm for single-frequency RTK solution

In this paper,a Kalman filter algorithm suitable for single-frequency RTK solution was proposed using C code and L1 phase measurements.Firstly,the tropospheric dry delay was predicted with model,double-difference atmospheric delay was estimated in a manner of the atmospheric zenith delay,then established observation equation for Kalman filter with the rover position,and single-difference ambiguity between stations;secondly,the double-difference ambiguity and covariance matrix were solved by making difference between satellites,after obtaining single-difference ambiguity and covariance matrix;In the end,a Modified Least-square AMBiguity Decorelation Adjustment(MLAMBDA)method was used to directly fix double-difference ambiguities.Some numerical tests were shown which indicated that the proposed method could get better positioning.