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Evaluation on real-time dynamic performance of BDS in PPP, RTK, and INS tightly aided modes
Citation key escidoc:3471890
Author Gao, Zhouzheng and Li, Tuan and Zhang, HongPing and Ge, Maorong and Schuh, H.
Pages 2393 - 2405
Year 2018
DOI 10.1016/j.asr.2018.02.004
Journal Advances in Space Research
Volume 61
Abstract Since China’s BeiDou satellite navigation system (BDS) began to provide regional navigation service for Asia-Pacific region after 2012, more new generation BDS satellites have been launched to further expand BDS’s coverage to be global. In this contribution, precise positioning models based on BDS and the corresponding mathematical algorithms are presented in detail. Then, an evaluation on BDS’s real-time dynamic positioning and navigation performance is presented in Precise Point Positioning (PPP), Real-time Kinematic (RTK), Inertial Navigation System (INS) tightly aided PPP and RTK modes by processing a set of land-borne vehicle experiment data. Results indicate that BDS positioning Root Mean Square (RMS) in north, east, and vertical components are 2.0, 2.7, and 7.6 cm in RTK mode and 7.8, 14.7, and 24.8 cm in PPP mode, which are close to GPS positioning accuracy. Meanwhile, with the help of INS, about 38.8\%, 67.5\%, and 66.5\% improvements can be obtained by using PPP/INS tight-integration mode. Such enhancements in RTK/INS tight-integration mode are 14.1\%, 34.0\%, and 41.9\%. Moreover, the accuracy of velocimetry and attitude determination can be improved to be better than 1 cm/s and 0.1$^circ$, respectively. Besides, the continuity and reliability of BDS in both PPP and RTK modes can also be ameliorated significantly by INS during satellite signal missing periods.
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Technical University of Berlin
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