Abstract Limited by low-cost signal reception and processing units, the accuracy of single point positioning and relative positioning of low-cost terminals cannot be guaranteed. Based on this, we propose an anti-differential velocity constrained RTD model with additional Doppler observations and an RTK adaptive switching model. Using the Doppler velocimetry constrained position solution, the anti-multipath capability of multi-frequency signals is fully utilized, and the pseudo-range noise is effectively smoothed to ensure positioning accuracy and stability. By means of RTD/RTK adaptive switching, we ensure the stable positioning accuracy under complex observation conditions. The measured positioning results based on Mi 8 and M8 terminals show that: the accuracy of both terminals is better than 1.5 m in east, north and elevation directions under static positioning; the plane accuracy of Mi 8 terminal is improved by 54%/44% and that of M8 terminal is improved by 51%/26% under dynamic mode without occlusion/with partial occlusion; the positioning of M8 terminal is better than 0.5 m in east and north directions under dynamic on-board experiment, and the ambiguity fixation rate is improved by about 30 percent points.
YUAN Xiaozheng,XU Aigong,GAO Meng et al. Algorithm of Differential Positioning with Anti-Differential Velocity Constraints Based on Low-Cost Terminals[J]. jgg, 2024, 44(1): 27-34.
YUAN Xiaozheng,XU Aigong,GAO Meng et al. Algorithm of Differential Positioning with Anti-Differential Velocity Constraints Based on Low-Cost Terminals[J]. jgg, 2024, 44(1): 27-34.