【摘 要】
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The paper proposed the mathematical model,the processing method and the basic process for the kinematic differential positioning.Firstly,the single epoch is used for initializing,and the wide-lane amb
【机 构】
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College of Geomatics, Shandong University of Science and Technology, Qingdao 266000, China
论文部分内容阅读
The paper proposed the mathematical model,the processing method and the basic process for the kinematic differential positioning.Firstly,the single epoch is used for initializing,and the wide-lane ambiguity is searched and fixed to calculate the basic ambiguity during this process.Then,the baseline solution is calculated by the least-squares method,and gross error is processed by using robust estimation.Moreover,the residual error is considered to corrected the basic ambiguity.Finally,epoch is updated.If there is a situation that new satellite appears or satellite happens cycle slip,the corresponding basic ambiguity is needed to calculate again,otherwise the basic ambiguity is transmitted only.The example,which 20HZ GNSS data is sampled by V-Surs I vehicle borne three-dimensional mobile surveying system,is presented in this paper.The method mentioned above is used to calculate this data and compare with the results calculated by the GNSS/INS tightly coupled of Inertial Explorer 8.60 software.The experimental results demonstrate that the method has high stability and accuracy in the medium-short baseline,and RMS in the north direction is less than 2cm,RMS in east direc-tion is less than 3cm,and RMS in the up direction is less than 5cm.
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