RTK Dynamic Positioning System Assisted By Inertial Navigation

Among the rapid development of information technology,high-precision positioning technology plays an important role in human scientific research and life.Our country's Bei Dou third-generation satellite navigation system has also launched navigation positioning and timing services to the world.The positioning accuracy of the traditional carrier phase difference technology can reach millimeter level,but the application scenarios are limited,and a fixed station with a known location is required.The accuracy of traditional dynamic Global Navigation Satellite System(GNSS)positioning is a bit low,generally maintained at the meter level.Given the above problems,this paper adopts the Real-Time Kinematic(RTK)carrier phase differential positioning method to build the positioning system of the dynamic mobile station relative to the dynamic reference station,that is,the RTK precision dynamic relative positioning.The system can improve the positioning accuracy and can also solve the problem of limited application scenarios.This article briefly introduces the advantages and disadvantages and application scenarios of navigation methods such as visual navigation,Ultra-Wide Band(UWB)positioning,and feature matching,and compares the advantages and shortcomings of Inertial Navigation System(INS)and Bei Dou navigation in detail,and introduces satellite navigation observation model,RTK differential model and observation deviation correction in turn method.Design an integrated navigation method that integrates the advantages of INS+BDS,and use the difference between the two positioning results as the state of the Kalman filter,which is conducive to correcting the satellite navigation data by the filtering results,verifying the feasibility of INS overcoming the short-term occlusion of BDS,and then establishing INS+BDS combination model.Compared with a single system,integrated navigation has the advantages of good output integrity and small positioning deviation,which solves the problem of BDS satellite loss of lock after satellite occlusion.This article studies the part of dynamic precision positioning theory: calculate through mathematical derivation,the dynamic positioning deviation is related to the baseline vector and satellite distribution,and the base station deviation has little effect on the dynamic positioning deviation under the short baseline state.The focus is on the difficult problems of cycle slip detection,ambiguity fixation,and differential correction in dynamic positioning.The methods of the satellite position calculation,carrier smoothing,receiver positioning,and deviation analysis in dynamic positioning are analyzed in detail.Research uses the abovementioned theoretical methods to build the main framework of dynamic positioning theory.After Receiver Autonomous Integrity Monitoring(RAIM)testing,the dynamic precision positioning system has good linkage target solving capabilities.This paper designs a software engineering solution for observing the solution results in real-time in the front-end dynamic window and tests the feasibility of the dynamic positioning system.Collect navigation data,test the long-endurance dynamic positioning solution performance,system robustness,etc.in an open and complex environment.The dynamic positioning system designed in this paper has high positioning accuracy and good system robustness and is suitable for high-precision relative positioning scenarios of linked targets.