多路径效应高频化的稀疏网络RTK方法

Multipath effect is a key problem that has long puzzled GNSS for real-time precise navigation and positioning. When there is no regional ionospheric delay constraint in the area augmented system, even if other errors are corrected accurately, because the multi-path error is difficlut to be modeled, it is colored noise, acquisition the fixed solution of station coordinates still need a long time after filtering. In this project, we propose to overcome the problem of multipath real-time reduction by using the small amplitude and periodic fast motion of antenna to make the multipath effect more frequent and to use the design trajectory to constrain the dynamic position of the antenna relative to the base. The common mode error of satellite is eliminated by the multi baseline double difference model of the user station and the sparse CORS, which reduces the complexity of the model while increasing the number of the common view satellite pairs, and improves the redundancy and observability of the model. The method does not rely on multi frequency and multi GNSS and precise ephemeris. It can realize instantaneous RTK precise positioning by using sparse network or global network to correct satellite position in real time. It is a new extension of GNSS real-time precise positioning and positioning theory.

多路径效应是长期困扰GNSS实时精密导航定位的关键问题，由于该项误差是难以模型化的有色噪声，在没有区域增强系统提供精确电离层延迟标定或约束的情况下，即使其他误差得到精确的改正，获取测站坐标固定解仍需要经过长时间的滤波。本项目提出通过天线的小幅度周期性快速运动使多路径效应高频化、利用设计轨迹约束天线相对于基座的动态位置的方法攻克多路径实时削弱难题；通过用户站与周围稀疏CORS的多基线双差模型消去卫星端共模误差，减小模型的复杂度的同时又可以增加共视卫星对的组数，提高模型的冗余度和可观测性；该方法不依赖于多频多系统和精密星历，利用稀疏网络或全球网络实时修正卫星位置，对多路径进行高频化实时削弱，以实现用户端双差模糊度的瞬时固定并获取精确位置；该方法是GNSS实时精密导航定位理论的新拓展。

多路径效应是长期困扰GNSS实时精密导航定位的关键问题，由于该项误差是难以模型化的有色噪声，在没有区域增强系统提供精确电离层延迟标定或约束的情况下，获取测站坐标固定解需要经过长时间的滤波。本项目提出通过天线的小幅度周期性快速运动使多路径效应高频化、利用设计轨迹约束天线相对于基座的动态位置的方法攻克多路径实时削弱难题；通过用户站与周围稀疏CORS的多基线双差模型消去卫星端共模误差，减小模型的复杂度的同时又可以增加共视卫星对的组数，提高模型的冗余度和可观测性；该方法不依赖于多频多系统和精密星历，利用稀疏网络或全球网络实时修正卫星位置，对多路径进行高频化实时削弱。实验数据显示，利用多路径效应高频化实时削弱方法，可以使RTK数秒内完成初始化，使GNSS静态控制测量5分钟内达到毫米级精度。