摘要
Abstract
To address the issues of low reliability and poor continuity of low-cost navigation modules in complex environments,we proposed a vehicle high-accuracy positioning method based on real-time kinematic(RTK)positioning of low-cost navigation modules.We introduced the solution results of inertial navigation system(INS)to assist in positioning,and fully utilized the characteristics of INS results that were not affected by external environmental interference and had high relative positioning accuracy in a short period of time.By using INS position information to assist RTK in cycle slip detection and floating-point filtering,the accuracy of cycle slip detection,as well as floating-point solution accuracy and smoothness,have been improved.The actual measurement results show that there is not much difference in the results in open environments,but in urban obstructed environment,the fixed rate increases by about 5%.In shaded scenes,the accuracy of plane elevation of 2 m can reach 100%.In heavily obstructed environments of elevated bridges,over 68%of the epoch's plane accuracy can reach within 2 m,and 98%of the epoch's elevation accuracy can reach 2 m,which is better than traditional RTK solutions.关键词
RTK/车载导航/INS辅助导航/低成本RTKKey words
RTK/vehicle navigation/INS assisted navigation/low-cost RTK分类
天文与地球科学
