Performance analysis of BDS-3 PPP/INS tightly-coupled positioning
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摘要: 随着我国北斗三号全球卫星导航系统(BDS-3)的全面建成，基于BDS-3的高精度定位定姿应用需求日益迫切. 推导了无电离层组合模式BDS-3 精密单点定位(PPP)模型及地心地固坐标系下的惯性导航系统(INS)误差方程，构建了BDS-3 PPP/INS紧组合定位滤波模型，分别针对BDS-3 PPP、BDS-3 PPP/INS松组合、BDS-3 PPP/INS紧组合三种模式进行了定位性能评估. 实验结果表明：BDS-3 PPP/INS松组合与 BDS-3 PPP位置精度基本一致；BDS-3 PPP/INS紧组合在东(E)、北(N)、天顶(U)方向位置精度为分别7.9 cm、9.3 cm、9.4 cm，较BDS-3 PPP/INS松组合位置精度分别提升了38.3%、33.1%、35.6%，速度精度分别提升了27.3%、45.8%、12%，姿态精度相当.
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关键词:
- 北斗三号全球卫星导航系统(BDS-3) /
- 精密单点定位(PPP) /
- 紧组合 /
- 惯性导航系统(INS) /
- 组合导航系统
Abstract: With the completion of BDS-3 in China, the requirements of high-precision positioning and attitude determination based on BDS-3 is increasingly urgent. This paper derives the BDS-3 precise point positioning(PPP)model with ionosphere-free combination and inertial navigation system(INS)error equation in geocentric fixed coordinate system , and constructs the BDS-3 PPP/INS tight combination filtering model. This paper evaluates the positioning performance of BDS-3 PPP, BDS-3 PPP/INS loose combination model and BDS-3 PPP/INS tight combination model. The results of the experiment show that the position accuracy of BDS-3 PPP/INS loose combination is basically the same as that of BDS-3 PPP, the position accuracy of BDS-3 PPP/INS tight combination model in the east, north and sky directions is 7.9 cm, 9.3 cm and 9.4 cm, which is higher than that of BDS-3 PPP/INS loose combination model by 38.3%, 33.1% and 35.6%; the speed is improved by 27.3%, 45.8% and 12% respectively in three directions; the attitude accuracy of both is equal. -
表 1 三种处理方案位置的RMSE统计
cm 解算模式 E N U BDS-3 PPP 13.4 14.2 14.2 BDS-3 PPP/INS松组合 12.8 13.9 14.6 BDS-3 PPP/INS紧组合 7.9 9.3 9.4 
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表 2 两种处理方案速度、姿态的RMSE
解算模式 速度/cm/s 姿态/(°) E N U 横滚角 俯仰角 航向角 BDS-3 PPP/INS紧组合 0.480 0.450 0.220 0.024 0.024 0.025 BDS-3 PPP/INS松组合 0.660 0.830 0.250 0.024 0.024 0.027
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