面向Android智能终端的多模GNSS实时非差精密定位
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摘要
Android操作系统中全球导航卫星系统(GNSS)原始数据的开放为大众高精度位置服务的应用带来了重要机遇。在对Android系统GNSS原始数据特性分析的基础上,利用智能终端GNSS原始数据实现了实时非差精密定位,研制了面向Android平台的实时精密单点定位(PPP)软件PPPAnd,并开展了实际环境下的定位测试。测试结果表明:基于Android终端GNSS原始数据的实时静态伪距单点定位精度(RMS)为1.16m(水平方向)和1.51m(垂直方向),较其自身位置速度和时间(PVT)解算结果分别提高了70%和76%;实时静态精密单点定位解算结果的精度(RMS)为0.62m(水平方向)和0.66m(垂直方向),较PVT结果分别提高了87%和82%,精度收敛至1m以内所需时间约8min,并且收敛后的精度可达亚米级;城市环境中车载实时动态精密单点定位的水平和垂直精度(RMS)分别约为1.32m和0.81m,较PVT结果分别提高了39%和65%。
The availability of GNSS raw measurements from mass-market smart devices with Android operator system opens the door to more advanced GNSS positioning techniques for high-precision location-based services. For the purpose of improving the positioning accuracy of smart devices, real-time un-differenced precise positioning with Android GNSS raw measurement is investigated in this paper. First, the basic characters of the Android GNSS measurements are analyzed. Following this, a real-time un-differenced precise positioning method with Android GNSS raw measurements is implemented, and a real-time precise point positioning(PPP) software called PPPAnd is developed based on the Android platform. Finally, the real-time positioning performance is validated with real data. Numerical results show that the RMS(root mean square) value of real-time single point positioning errors with Android raw GNSS measurement is 1.16 m and 1.51 m in the horizontal and vertical components, respectively; compared with the PVT(Position Velocity and Time) solutions of Android device, the improvements of accuracy are 70% for the horizontal component and 76% for the vertical component. For real-time precise point positioning in static mode, the positioning accuracies(RMS) in the horizontal and vertical components are 0.62 m and 0.66 m, respectively, with an improvement of 88% and 82% for the corresponding component compared with the PVT solutions. In addition, the required convergence time for the accuracy level of 1.0 m is about 8 min, and once it converged the positioning accuracy of static PPP can reach to sub-meter level. For the vehicle-based real-time kinematic precise point positioning in urban environment, the positioning accuracies are 1.32 m in the horizontal component and 0.81 m in the vertical component and the corresponding improvement of positioning accuracy relative to the PVT solutions is 39% and 65%, respectively.
The availability of GNSS raw measurements from mass-market smart devices with Android operator system opens the door to more advanced GNSS positioning techniques for high-precision location-based services. For the purpose of improving the positioning accuracy of smart devices, real-time un-differenced precise positioning with Android GNSS raw measurement is investigated in this paper. First, the basic characters of the Android GNSS measurements are analyzed. Following this, a real-time un-differenced precise positioning method with Android GNSS raw measurements is implemented, and a real-time precise point positioning(PPP) software called PPPAnd is developed based on the Android platform. Finally, the real-time positioning performance is validated with real data. Numerical results show that the RMS(root mean square) value of real-time single point positioning errors with Android raw GNSS measurement is 1.16 m and 1.51 m in the horizontal and vertical components, respectively; compared with the PVT(Position Velocity and Time) solutions of Android device, the improvements of accuracy are 70% for the horizontal component and 76% for the vertical component. For real-time precise point positioning in static mode, the positioning accuracies(RMS) in the horizontal and vertical components are 0.62 m and 0.66 m, respectively, with an improvement of 88% and 82% for the corresponding component compared with the PVT solutions. In addition, the required convergence time for the accuracy level of 1.0 m is about 8 min, and once it converged the positioning accuracy of static PPP can reach to sub-meter level. For the vehicle-based real-time kinematic precise point positioning in urban environment, the positioning accuracies are 1.32 m in the horizontal component and 0.81 m in the vertical component and the corresponding improvement of positioning accuracy relative to the PVT solutions is 39% and 65%, respectively.
引文
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[17] Wang L,Li Z,Yuan H,et al.Research and implementation on BDS/GNSS real-time positioning for urban high-precision location-based services[C]// Proceedings of 2016 China Satellite Navigation Conference(Volume I).Changsha,China,2016:277-286.
[18] Wang L,Li Z,Ge M,et al.Validation and assessment of multi-GNSS real-time precise point positioning in simulated kinematic mode using IGS real-time service[J].Remote Sensing,2018,10(2):337-356.
[19] 汪亮,李子申,袁洪,等.BDS/GPS/GLONASS组合的双频单历元相对定位性能对比分析[J].科学通报,2015,60(9):857-868.Wang Liang,Li Zishen,Yuan Hong,et al.Validation and analysis of the performance of dual-frequency single-epoch BDS/GPS/GLONASS relative positioning[J].Chinese Science Bulletin,2015,60(9):857-868(in Chinese).
[20] 李子申.GNSS/Compass电离层时延修正及TEC监测理论与方法研究[D].武汉:中国科学院测量与地球物理研究所,2012.Li Zishen.Study on the mitigation of ionospheric delay and the monitoring of global ionospheric TEC based on GNSS/compass[D].Wuhan:Institute of Geodesy and Geophysics,Chinese Academy of Sciences,2012(in Chinese).
[21] 杨元喜.自适应动态导航定位(第二版)[M].北京:测绘出版社,2017.Yang Yuanxi.Adaptive navigation and kinematic positioning(2nd edition)[M].Beijing:SinoMaps Press,2017(in Chinese).
[2] Teunissen P,Montenbruck O.Springer handbook of global navigation satellite systems[M].Springer,2017.
[3] Zumberge J F,Heflin M B,Jefferson D C,et al.Precise point positioning for the efficient and robust analysis of GPS data from large networks[J].Journal of Geophysical Research:Solid Earth,1997,102(B3):5005-5017.
[4] William R,Joshua C M,Marco F,et al.FLAMINGO-Fulfilling enhanced location accuracy in the mass-market through initial Galileo services[C]// Proceedings of the 31st International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2018).Miami,Florida,2018:489-502.
[5] Pirazzi G,Mazzoni A,Biagi L,et al.Preliminary performance analysis with a GPS+ Galileo enabled chipset embedded in a smartphone[C]// Proceedings of the 30th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2017).Portland,Oregon,2017:101-115.
[6] Humphreys T E,Murrian M,van Diggelen F,et al.On the feasibility of cm-accurate positioning via a smartphone's antenna and GNSS chip[C]// 2016 IEEE/ION Position,Location and Navigation Symposium (PLANS).Savannah,GA,2016:232-242.
[7] Riley S,Lentz W,Clare A.On the path to precision—Observations with android GNSS observables[C]// Proceedings of the 30th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2017).Portland,Oregon,2017:116-129.
[8] Realini E,Caldera S,Pertusini L,et al.Precise GNSS positioning using smartdevices[J].Sensors,2017,17(10):2434-2447.
[9] Zhang X,Tao X,Zhu F,et al.Quality assessment of GNSS observations from an Android N smartphone and positioning performance analysis using time-differenced filtering approach[J].GPS Solutions,2018,22(3):70-80.
[10] Zhu F,Tao X,Liu W,et al.Walker:continuous and precise navigation by fusing GNSS and MEMS in smartphone chipsets for pedestrians[J].Remote Sensing,2019,11(2):139.
[11] Dabove P,Di Pietra V.Towards high accuracy GNSS real-time positioning with smartphones[J].Advances in Space Research,2019,63(1):94-102.
[12] Zhang K,Jiao F,Li J.The assessment of GNSS measurements from android smartphones[C]// Proceedings of China Satellite Navigation Conference 2018.Harbin,China,2018.
[13] 张云,马天翊,阙扬州,等.移动终端中的GNSS高精度定位技术评估[C]// 第九届中国卫星导航学术年会.哈尔滨,中国,2018.Zhang Yun,Ma Tianyi,Que Yangzhou,et al.GNSS high-precision positioning technology evaluation in mobile terminals[C]// Proceedings of the 9th China Satellite Navigation Conference.Harbin,China,2018(in Chinese).
[14] Banville S,Van Diggelen F.Precise positioning using raw GPS measurements from Android smartphones[J].GPS World,2016,27(11):43-48.
[15] Gill M,Bisnath S,Aggrey J,et al.Precise point positioning (PPP) using low-cost and ultra-low-cost GNSS receivers[C]//Proceedings of the 30th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2017).Portland,Oregon,2017:226-236.
[16] Wang L,Li Z,Zhao J,et al.Smart device-supported BDS/GNSS real-time kinematic positioning for sub-meter-level accuracy in urban location-based services[J].Sensors,2016,16(12):2201-2215.
[17] Wang L,Li Z,Yuan H,et al.Research and implementation on BDS/GNSS real-time positioning for urban high-precision location-based services[C]// Proceedings of 2016 China Satellite Navigation Conference(Volume I).Changsha,China,2016:277-286.
[18] Wang L,Li Z,Ge M,et al.Validation and assessment of multi-GNSS real-time precise point positioning in simulated kinematic mode using IGS real-time service[J].Remote Sensing,2018,10(2):337-356.
[19] 汪亮,李子申,袁洪,等.BDS/GPS/GLONASS组合的双频单历元相对定位性能对比分析[J].科学通报,2015,60(9):857-868.Wang Liang,Li Zishen,Yuan Hong,et al.Validation and analysis of the performance of dual-frequency single-epoch BDS/GPS/GLONASS relative positioning[J].Chinese Science Bulletin,2015,60(9):857-868(in Chinese).
[20] 李子申.GNSS/Compass电离层时延修正及TEC监测理论与方法研究[D].武汉:中国科学院测量与地球物理研究所,2012.Li Zishen.Study on the mitigation of ionospheric delay and the monitoring of global ionospheric TEC based on GNSS/compass[D].Wuhan:Institute of Geodesy and Geophysics,Chinese Academy of Sciences,2012(in Chinese).
[21] 杨元喜.自适应动态导航定位(第二版)[M].北京:测绘出版社,2017.Yang Yuanxi.Adaptive navigation and kinematic positioning(2nd edition)[M].Beijing:SinoMaps Press,2017(in Chinese).
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