Application analysis of PPP-RTK technology based on the BeiDou Navigation Satellite System in UAV power inspection
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摘要: 为解决无公网地区或地形条件复杂地区进行无人机电力巡检得不到高精度定位服务的问题，本文提出使用基于北斗卫星导航系统(BeiDou Navigation Satellite System, BDS)的精密单点定位-实时动态定位(precise point positioning-real-time kinematic, PPP-RTK)技术，为无人机电力巡检提供高精度定位服务. 文中使用电力北斗精准位置服务网四川省内电力北斗基准站的数据进行了PPP-RTK服务端产品的计算和用户端的仿动态定位试验. 试验结果表明：在使用基于BDS的PPP-RTK服务条件下，用户端使用BDS或BDS+GPS进行PPP-RTK模糊度固定解模式时，在1 min内就可以实现收敛，收敛后水平方向的均方根 (root mean square, RMS) 值小于5 cm，高程方向的RMS小于8 cm，该试验结果可以为构建电力北斗PPP-RTK服务及其在无人机巡检中的应用提供设计参考依据.
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关键词:
- 北斗卫星导航系统(BDS) /
- 精密单点定位-实时动态定位(PPP-RTK) /
- 无人机电力巡检 /
- 电力行业
Abstract: In order to solve the problem that high-precision positioning service is not available for UAV power inspection in areas with no public network or complex terrain conditions, this paper proposes to use precise point positioning-real-time kinematic (PPP-RTK) technology based on BeiDou Navigation Satellite System (BDS) to provide high-precision positioning service for UAV power inspection. Using data from the electric power BeiDou precise positioning service network in Sichuan province to calculate the PPP-RTK server-side product and conduct user-side simulated dynamic positioning experiments. The experimental results show that under the conditions of using BDS-based PPP-RTK services, when the user-side adopts BDS or BDS+GPS for PPP-RTK integer ambiguity resolution, convergence can be achieved within 1 minute. After convergence, the horizontal direction root mean square (RMS) is less than 5 cm, and the vertical direction RMS is less than 8 cm. The experimental results can provide design reference for the construction of power BeiDou PPP-RTK service and its application in UAV inspection. -
表 1 非差非组合PPP-RTK各类参数可估形式
参数 可估形式 $ {\tilde{\rm{d}}}t^{s}\left(i\right) $ $ {\mathrm{d}t}^{s}\left(i\right)-{\mathrm{d}t}_{1}\left(i\right)+{d}_{\mathrm{I}\mathrm{F}}^{s}-{{d}_{1,\mathrm{I}\mathrm{F}}-g}_{1}^{s}\left(i\right)\cdot {\tau }_{1}\left(i\right) $ $ \tilde{{d}}_{j > 2}^{s} $ $ {d}_{j}^{s}-{d}_{\mathrm{I}\mathrm{F}}^{s}-{\mu }_{j}{d}_{\mathrm{G}\mathrm{F}}^{s}-{d}_{1,j}+{d}_{1,\mathrm{I}\mathrm{F}}+{\mu }_{j}{d}_{1,\mathrm{G}\mathrm{F}} $ $ {\tilde{\delta }}_{j}^{s} $ $ {\delta }_{j}^{s}-{d}_{\mathrm{I}\mathrm{F}}^{s}+{\mu }_{j}{d}_{\mathrm{G}\mathrm{F}}^{s}-{\delta }_{1,j}+{d}_{1,\mathrm{I}\mathrm{F}}-{\mu }_{j}{d}_{1,\mathrm{G}\mathrm{F}}{-\lambda }_{j}{N}_{1,j}^{s} $ $ {\tilde{N}}_{r\ne 1,j}^{s\ne q} $ $ {N}_{1r,j}^{s}-{N}_{1r,j}^{q} $ $ {\tilde{\tau }}_{r\ne 1}\left(i\right) $ $ {\tilde{\tau }}_{1r}\left(i\right) $ $ {\tilde{\rm{d}}t}_{r\ne 1}\left(i\right) $ $ {d}_{1r}\left(i\right)+{d}_{1r,\mathrm{I}\mathrm{F}} $ $ {\tilde{d}}_{r\ne 1,j > 2} $ $ {d}_{1r,j}\left(i\right)-{d}_{1r,\mathrm{I}\mathrm{F}}-{\mu }_{j}{d}_{1r,\mathrm{G}\mathrm{F}} $ $ {\tilde{\delta }}_{r\ne 1,j} $ $ {\delta }_{1r,j}-{d}_{1r,\mathrm{I}\mathrm{F}}+{\mu }_{j}{d}_{1r,\mathrm{G}\mathrm{F}}{+\lambda }_{j}{N}_{1r,j}^{q} $ $ {\tilde{I}}_{r,j}^{s}\left(i\right) $ $ {I}_{r,j}^{s}\left(i\right) $+ $ {d}_{r,\mathrm{G}\mathrm{F}}-{d}_{\mathrm{G}\mathrm{F}}^{s} $ 
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表 2 BDS/GPS/GPS+BDS 定位平均收敛时间与RMS
系统 解算
模式RMS_
E/cmRMS_
N/cmRMS_
U/cm收敛时间/
minBDS 浮点解 4.0 1.5 8.2 15.7 固定解 0.8 0.7 6.3 0.5 GPS 浮点解 5.1 7.0 13.6 9.9 固定解 3.3 3.5 12.5 4.7 BDS+GPS 浮点解 4.2 1.1 5.7 15.1 固定解 0.9 0.7 6.1 0.2
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