gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.00109gyroscopy-113Research ArticleСтатьиСокращение времени сходимости РРР-решений при использовании ограничений на скорость движенияRapid Re-convergence of Real-time Dynamic Precise Point Positioning by Adding Velocity Constraintshttps://orcid.org/0000-0001-5459-536XВанCWangX.

Ван Синсин, магистр

Шицзячуан

Shijiazhuang

ШэнЧ.ShengC.

Шэн Чуаньчжэнь, доктор технических наук 

Шицзячуан 

Shijiazhuang

https://orcid.org/0000-0002-7274-3888ЮйБ.YuB.

Юй Баого, доктор технических наук 

Шицзячуан 

Shijiazhuang

ЧжанЦ.ZhangZ.

Чжан Цзытэн, магистр 

Шицзячуан 

Shijiazhuang

ЧжанЦ.ZhangJ.

Чжан Цзинкуй, магистр 

Шицзячуан 

Shijiazhuang

ИЦ.-У.YiQ.

И Цин-У, магистр 

Шицзячуан 

Shijiazhuang

Главная государственная лаборатория по спутниковым навигационным системам и оборудованию; 54-й Научно-исследовательский институт Корпорации электронных технологийКитайState Key Laboratory of Satellite Navigation System and Equipment Technology; The 54th Research Institute of China Electronics Technology Group CorporationChinaГлавная государственная лаборатория по спутниковым навигационным системам и оборудованию; 54-й Научно-исследовательский институт Корпорации электронных технологийКитайState Key Laboratory of Satellite Navigation System and Equipment Technology; The 54th Research Institute of China Electronics Technology Group CorporationChina202220052025304152168Copyright © Ван C., Шэн Ч., Юй Б., Чжан Ц., Чжан Ц., И Ц., 20252025Ван C., Шэн Ч., Юй Б., Чжан Ц., Чжан Ц., И Ц.Wang X., Sheng C., Yu B., Zhang Z., Zhang J., Yi Q.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/113

В сложных условиях навигации, например в городе и в геологически опасных районах, может происходить блокировка сигналов ГНСС, а длительный период сходимости решения навигационной задачи способен значительно ограничивать применение динамического высокоточного абсолютного позиционирования (precise point positioning – PPP) в режиме реального времени. C учетом того что в течение периодов сходимости скорость определяется точнее, чем местоположение, мы предлагаем метод быстрого определения местоположения в реальном времени за счет учета различного рода ограничений по скорости в динамическом PPP-позиционировании. В зависимости от состояний и условий движения адаптивно используются различные данные о скорости. Например, модель с нулевой скоростью применяется в неподвижном положении, измерения доплеровской скорости – при временной блокировке большинства видимых спутников, данные о скорости от других датчиков – при частой блокировке спутникового сигнала. Поскольку неточная динамическая модель способна влиять на результаты динамического позиционирования, ограничение по скорости может постепенно ослабляться при возобновлении приема сигналов ГНСС и постепенного сокращения неопределенности. Результаты статических и кинематических экспериментов демонстрируют, что при значительном снижении количества видимых спутников из-за блокировки сигналов применение нового метода определения местоположения может оперативно ускорить сходимость решения навигационной задачи при PPP-позиционировании, обеспечить высокую точность и непрерывность динамического позиционирования в реальном времени.

In challenging environments like urban vehicle navigation and geological hazards, the GNSS signals are easily blocked, and the long re-convergence time seriously limits many applications of real-time dynamic precise point positioning. Considering that the velocity accuracy is better than the position during re-convergence epochs, we proposed a real-time rapid-positioning method by introducing velocity constraints into the dynamic PPP. According to the different motion states and environments, different velocity constraints are used adaptively. For example, the zero-velocity constraint model is used in the stationary state; the Doppler-velocity constraint model is used when the most visible satellites are temporarily blocked; the other-sensors-velocity constraint model is used when the satellite signal is blocked frequently. Considering that the inaccurate dynamic model will affect the dynamic positioning results, the velocity constraint can be gradually relaxed after the GNSS signals are reacquired and the ambiguity gradually converges. Based on static and kinematic experiments with GPS data, the results show that when the number of visible satellites is greatly dropped due to signal blocking, the new positioning method can significantly speed up the re-convergence of precise point positioning, maintain high accuracy and improve the continuity of real-time dynamic positioning in a short time.

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The authors declare that there are no conflicts of interest present.