利用徕卡GS18仪器进行高精度RTK定位试验与分析

目前，GNSS和IMU（惯性测量单元）传感器融合领域的快速发展，给高精度RTK定位带来了新的机遇。传统倾斜补偿的解决方案大多是使用磁力计和INS（惯性导航系统），对电磁干扰十分敏感并且需要现场校准，倾斜补偿的角度范围通常限制在15°；以内。为了克服上述的缺点，徕卡GS18 GPS倾斜机使用基于工业级别微电子机械传感器MEMS的IMU来补偿测杆倾斜情况的位置改正。本文通过试验检验了徕卡GS18仪器在大角度倾斜和不同复杂环境下的定位精度，结果表明GS18倾斜机能较好实现倾斜补偿，在有信号遮挡等场景下仍能获得厘米级定位精度。

Experiment and analysis of high-precision RTK positioning with the Leica GS18

Nowadays, the rapid development of sensor fusion techniques in GNSS, and IMU is offering a great opportunity to high-precision RTK positioning. The conventional tilt compensation solutions mostly use magnetmeter measurements and INS, which are sensitive to magnetic disturbances and need on-site calibrations. Moreover, the tilt compensation range is often limited to 15°. To avoid the disadvantages mentioned above, the tilt compensation solution of Leica GS18 uses IMU measurements from industrial-grade MEMS. The positioning accuracies of the Leica GS18 at large tilt angles and in difficult environments are tested by the experiments in this paper. The result indicates that the centimeter-level precision is still achievable even in hidden environments, the tilt compensation is reasonably acquired by the Leica GS18.