BDS/GPS组合定位可靠性分析与粗差探测研究

全球导航卫星系统多系统融合定位是未来无人驾驶等智能应用的关键基础设施，无人驾驶等智能应用经常需要面对城市等复杂环境，由于受到建筑物的遮挡与多路径的影响，观测值出现误差的概率也在不断增加，因此分析多系统融合定位可靠性并进行粗差的探测识别，确保定位结果准确可靠具有重要意义。基于可靠性理论与假设检验粗差探测方法，采用MGEX(multi-GNSS experiment)测站数据进行可靠性评估与粗差探测实验。实验结果表明,BDS(BeiDou navigation satellite system)/GPS(global positioning system)组合下,双频IF(ionospheric-free)组合定位解算的最小可探测粗差与最大不可探测粗差对定位的影响值较单BDS解算分别下降了7.105 m、22.368 m，双系统较单系统可靠性提升明显。BDS/GPS组合下，双频IF组合定位解算的最小可探测粗差与最大不可探测粗差对定位的影响向量较单频解算结果下降了4.105 m、1.621 m，双频数据较单频数据的可靠性更优。基于可靠性评估结果开展了模拟粗差探测实验，结果表明，双频观测值包含...

Reliability Analysis and Gross Error Detection of BDS/GPS Combined Positioning

  Objectives  The continuous improvement and progress of the global navigation satellite system (GNSS) provides a strong foundation for multi-system fusion localization, and with the increase in the number of satellites deployed for multi-system positioning, the probability of gross observational errors is also constantly increasing. Therefore, it is of great significance in satellite positioning to correctly evaluate the quality of the observations and eliminate the errors.  Method  Based on reliability theory and the gross error detection method, the minimum detective bias (MDB) and minimum detective error (MDE) are calculated to analyze reliability of multi-GNSS experiment (MGEX)data. Based on these calculation results, we designed and implemented gross error detection experiments.  Results  The MDB and MDE values for the du?al-frequency solution in fused BDS(BeiDou navigation satellite system)/GPS(global positioning system)positioning were smaller than the valve in the solution from BDS alone, 7.105 m and 22.368 m respectively. Unlike the single-frequency solution, the dual-frequency BDS/GPS combination reduced the MDB by 4.105 m and the MDE by 1.621 m. When adding single gross error to the double-frequency BDS observations, the gross error detection success rate was 99.96% and gross error recognition rate was 90.56%. For the combined system, these values were 99.96% and 99.05% respectively. When adding double gross errors to BDS observations, the gross error detection success rate were 100% and gross error rec?ognition rate was 65.67%, while the gross error detection success for the combined system was 100%, and 71.91% respectively.  Conclusions  The MDB and MDE values for multi-system and multi-frequency positioning solutions decline. Furthermore, the gross error recognition rate for the multi-system positioning is higher than a single system alone.