[논문]Performance Analysis of Long Baseline Relative Positioning using Dual-frequency GPS/BDS Measurements

Choi, Byung-Kyu; Yoon, Ha Su; Lee, Sang Jeong

doi:10.11003/jpnt.2019.8.2.87

Performance Analysis of Long Baseline Relative Positioning using Dual-frequency GPS/BDS Measurements 원문보기

Journal of Positioning, Navigation, and Timing, v.8 no.2, 2019년, pp.87 - 94

Choi, Byung-Kyu (Space Science Division, Korea Astronomy and Space Science Institute) , Yoon, Ha Su (Space Science Division, Korea Astronomy and Space Science Institute) , Lee, Sang Jeong (Department of Electronics Engineering, Chungnam National University)

Abstract ▼ AI-Helper

The Global Navigation Satellite System (GNSS) Real-Time Kinematic (RTK) positioning has been widely used in geodesy, surveying, and navigation fields. RTK can benefit enormously from the integration of multi-GNSS. In this study, we develop a GPS/BeiDou Navigation Satellite System (BDS) RTK integration algorithm for long baselines ranging from 128 km to 335 km in South Korea. The positioning performance with GPS/BDS RTK, GPS-only RTK, and BDS-only RTK is compared in terms of the positioning accuracy. An improvement of positioning accuracy over long baselines can be found with GPS/BDS RTK compared with that of GPS-only RTK and that of BDS-only RTK. The positioning accuracy of GPS/BDS RTK is better than 2 cm in the horizontal direction and better than 5 cm in the vertical direction. A lower Relative Dilution of Precision (RDOP) value with GPS/BDS integration can obtain a better positional precision for long baseline RTK positioning.

주제어

표/그림 (8)

표 Table 1. Processing strategy for long-baseline relative positioning.
그림 Fig. 1. Test confgurati for GPS/BDS long-baseline relative positioning.
표 Table 2. GNSS receiver types on RS and rover stations.
그림 Fig. 2. Ground tracks of GPS satellites and BeiDou satellites on 1 January 2019.
그림 Fig. 3. Ground tracks of GPS satellites and BeiDou satellites on 1 January 2019.
그림 Fig. 4. Position RMS errors for GPS-only, BDS-only and GPS/BDS integration with BL: (a) 128 km, (b) 216 km, (c) 335 km and (d) GPS+BDS Integration with BL.
그림 Fig. 5. Time series of estimated DD ZWD with BLs.
그림 Fig. 6. Averaged RDOP vales in confdence level of 95 percent with BL.

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제안 방법

The users of GNSS dual-frequency receivers may improve the position accuracy by nearly removing the error due to the ionosphere, which is the largest error in the signal transmission. However, since users of GNSS single frequency receivers do not remove the ionospheric error directly, the error is separately estimated or models and global ionosphere maps products are additionally utilized to improve the location accuracy. However, the RTK performance of single frequency users in medium and long baselines is still poor compared to that of dual-frequency users.
In this study, RDOP, which is an indicator that is related to user’s position precision in relative positioning, was calculated by each of the BLs.
In this study, we develop a relative positioning algorithm using GPS and BDS observation data and analyzes the positioning performance for the long baselines between a reference station and rovers. In addition, the data processing methods according to each baseline distance are divided into GPS-only, BDS-only, and integrated GPS+BDS and applied in order to compare the position accuracy.
Parameters such as location and the integer ambiguity are estimated in every 30 sec using the Extended Kalman Filter. This study also uses Global Mapping Function (GMF) and Global Pressure and Temperature (GPT) 2 models to estimate the tropospheric delay error.
This study employs GPS L1 (1575.42 MHz) and L2 (1227.60 MHz) signals, and BDS’s B1 (1561.098 MHz) and B2 (1207.17 MHz) signals.
This study selected three BLs to comparatively analyze the positioning accuracy of relative positioning with regard to 100 km or longer BLs, and performed data processing using GPS-only, BDS-only, and integrated GPS/BDS, respectively. The data processing results revealed that position errors increased in all of GPS-only, BDS-only, and integrated GPS/BDS as the BL became longer.

대상 데이터

For the phase center offset (PCO) and phase center variation (PCV) of the GNSS satellites and receiver’s antenna, the IGS14.atx files that contained antenna information were used.
The baselines consist of DAEJ-SKMA, DAEJ-KOHG, and DAEJ-JEJU, respectively. The BLs were approximately 128 km, 216 km, and 355 km from the RS. The configuration of the baselines for the long baseline relative positioning is shown in Fig.

데이터처리

3 shows the position error in the navigation coordinate according to three different BLs in a time series. Data processing of GPS-only, BDS-only, and integrated GPS+BDS was performed respectively using the Multi-GNSS Analysis Software developed by the Korea Astronomy and Space Science Institute to compare and analyze the position error of relative positioning. In addition, the results calculated by high-precision GNSS software Bernese 5.
In addition, the RDOP, which is a reliable indicator in user’s position determination, was calculated and analyzed.

이론/모형

The tidal effect due to the Earth and the pole was compensated by using a model provided by the International earth rotation service (IERS) conventions 2010, and the effect of ocean tide was compensated by using the Finite Element Solution (FES) 2004 model.

성능/효과

The smaller RDOP value indicated that more reliable position precision could be acquired. Conclusively, the integrated GPS/BDS could improve positioning accuracy and position precision compared to those of GPS-only and BDS-only.
3 cm. On the other hand, the results of BDS-only showed that the RMS error in the up direction was 5.2 cm, which revealed that the position accuracy was degraded more than twice compared to that of GPS-only. The results of integrated GPS+BDS showed that the positioning accuracy relatively improved more than those of GPS-only and BDS-only, particularly in the up direction.
6 shows the RDOP value calculated using the observation data received at three BLs in a day on January 1, 2019. The RDOP value was calculated by each of GPS-only and integrated GPS+BDS, and daily averaged values were calculated within the 95% confidence interval.
The comparison results of integrated GPS/BDS alone among three BLs showed that as the BL increased, an increasing magnitude of position error in the up direction was relatively larger than that in the horizontal direction.
In particular, the position error in the up direction component by BDS-only increased further. The data processing results on three BLs exhibited that the position errors of all GPS-only, BDS-only, and integrated GPS+BDS increased as the BL became longer. Note that the position error in the up direction component increased relatively more in BDS-only than in GPS-only as the BL became longer.
This study selected three BLs to comparatively analyze the positioning accuracy of relative positioning with regard to 100 km or longer BLs, and performed data processing using GPS-only, BDS-only, and integrated GPS/BDS, respectively. The data processing results revealed that position errors increased in all of GPS-only, BDS-only, and integrated GPS/BDS as the BL became longer. Note that the position accuracy of BDS-only was significantly degraded as the BL increased.
4a shows the position error at a region where the BL is 128 km. The results of GPS-only showed that both of the RMS errors in the east-west and south-north directions were less than 1 cm, and the position error in the up direction was approximately 2.3 cm. On the other hand, the results of BDS-only showed that the RMS error in the up direction was 5.
2 cm, which revealed that the position accuracy was degraded more than twice compared to that of GPS-only. The results of integrated GPS+BDS showed that the positioning accuracy relatively improved more than those of GPS-only and BDS-only, particularly in the up direction. Fig.

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