Smartphone RTK positioning based on integrated weighting of base station signal-to-noise ratio and joint satellite system
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摘要: 随着智能手机芯片和天线性能的不断提升，基于手机的高精度定位逐渐引起学术界和工业界的广泛关注. 相较于单点定位，实时动态 (real-time kinematic，RTK) 定位通常表现出更高的定位性能. 然而，目前对于手机RTK定位的随机模型的研究仍相对较少. 因此，文中以小米8为例，重点探讨了智能手机在多系统RTK定位情境下的随机模型.研究结果表明：不同系统的卫星伪距噪声存在显著差异，而相位噪声的差异则较小. 基于此，本文提出了一种基站信噪比联合卫星系统间综合定权的随机模型. 相对于传统的信噪比模型更准确地考虑了不同系统之间的权重分配. 并在开阔和遮挡条件下进行了静态和动态实验. 结果表明：相比于传统的信噪比模型，新模型在静态开阔、静态遮挡、动态开阔和动态遮挡下三维方向的RTK定位精度分别提升了18.7%、18.3%、3.3%和4.6%.Abstract: With the continuous improvement of smartphone chip and antenna performance, high-precision positioning based on mobile phones has gradually attracted widespread attention from academia and industry. Compared with single-point positioning, real-time kinematic (RTK) positioning usually shows higher positioning performance. However, there are still relatively few studies on the stochastic model of mobile phone RTK positioning. Therefore, this study takes Xiaomi 8 as an example to focus on the stochastic model of smartphones in a multi-system RTK positioning scenario. The research results show that different systems There are significant differences in satellite pseudorange noise, while the difference in phase noise is smaller. Based on this, this paper proposes a stochastic model of base station signal-to-noise ratio combined with comprehensive weighting between satellite systems, which is more efficient than the traditional signal-to-noise ratio model. The weight distribution between different systems was accurately considered. Static and kinematic experiments were conducted under open and occluded conditions. The results show that compared with the traditional signal-to-noise ratio model, the new model is RTK positioning accuracy in the three-dimensional direction under static openness, static occlusion, kinematic openness and kinematic occlusion has increased by 18.7%, 18.3%, 3.3% and 4.6% respectively.
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Key words:
- smartphones /
- stochastic model /
- signal-to-noise ratio /
- RTK positioning /
- positioning accuracy
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表 1 智能手机小米8 不同卫星系统伪距噪声
m 卫星系统 静态开阔 静态遮挡 动态开阔 动态遮挡 均方根值 GPS 4.65 5.67 5.15 5.07 5.14 BDS 5.08 5.38 4.02 5.17 4.92 GLONASS 8.54 8.11 8.13 8.19 8.24 
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表 2 智能手机小米8 不同卫星系统相位噪声
m 卫星系统 静态开阔 静态遮挡 动态开阔 动态遮挡 均方根值 GPS 0.009 0.010 0.009 0.010 0.009 BDS 0.008 0.009 0.008 0.009 0.008 GLONASS 0.009 0.011 0.009 0.010 0.009
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表 3 模式设置和参数设置
模式设置 参数设置 定位模式 动态差分定位 截至高度角 10° GNSS GPS(L1)、BDS(B1)、GLONASS(L1) 电离层改正 Klobuchar 对流层改正 Saastamoinen 卫星轨道和钟差 广播星历
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