北京测绘2026，Vol.40Issue(3)：277-281,5.DOI:10.19580/j.cnki.1007-3000.2026.03.002
PPK与PPK/INS组合导航模式的定位性能对比
Positioning performance comparison between PPK and PPK/INS integrated navigation modes
摘要
Abstract
Post-processed kinematic(PPK)and the combination of PPK with an inertial navigation system(INS)(PPK/INS)are two post-processed integrated navigation modes.To compare the performance differences between these two navi-gation modes,this paper summarized the system structures and mathematical models of both combinations and conducted two sets of comparative experiments using the open-source software GINav.The experimental results show that the tightly coupled(TC)PPK/INS-TC positioning mode achieves position error accuracies of 0.47,0.71,and 0.56 cm in the north,east,and vertical directions,respectively,representing an improvement of 90.89%,88.09%,and 85.15%compared to the PPK positioning mode.The velocity errors in the north,east,and vertical directions for the PPK/INS-TC positioning mode are 0.005,0.005,and 0.005 m/s,respectively,representing improvements of 82.14%,82.76%,and 82.76%compared to the PPK/INS-loosely coupled(LC)positioning mode.Meanwhile,the pitch angle error,roll angle error,and heading angle error for the PPK/INS-TC positioning mode are 0.018°,0.018°,and 0.082°,respectively,which represent improve-ments of 28.00%,21.74%,and 18%compared to the PPK/INS-LC mode based on LC values.This indicates that tightly coupled PPK/INS navigation significantly enhances positioning performance in terms of position error,velocity error,atti-tude error,and ambiguity resolution success rate.关键词
全球导航卫星系统(GNSS)/惯性导航系统(INS)/组合导航/性能分析/事后动态定位(PPK)/紧组合/松组合Key words
global navigation satellite system(GNSS)/inertial navigation system(INS)/integrated navigation/performance analysis/post-processed kinematic(PPK)/tightly coupled/loosely coupled分类
天文与地球科学引用本文复制引用
陈龙飞,方明祥,周佩旻,马下平..PPK与PPK/INS组合导航模式的定位性能对比[J].北京测绘,2026,40(3):277-281,5.基金项目
国家自然科学基金(42364002,42274039) （42364002,42274039）
江西省主要学科学术和技术带头人培养计划(20225BCJ23014) （20225BCJ23014）
江西省重点研发计划(20243BBI91033) （20243BBI91033）
西安市科学技术计划(24ZDCYJSGG0015) （24ZDCYJSGG0015）
卫星导航系统与装备技术国家重点实验室开放基金(CEPNT2023B02) （CEPNT2023B02）
重庆市教委科学技术研究项目(KJQN202403241). （KJQN202403241）
