Research On The Technology Of BDS Kinematic To Kinematic Precise Relative Positioning

In the fields such like carrier aircraft landing,aircraft air refueling and satellite-to-satellite orbit determination,the kinematic-to-kinematic precise relative positioning technology based on moving reference station is generally used to solve the problem of high precision relative positioning between two moving targets.The technology is based on carrier phase difference positioning with the base station also set to a motion carrier.In this paper,we mainly focus on the study of the ambiguity resolution strategy,real time cycle slip detection and repair method,and the relative positioning algorithm for Bei Dou kinematic-to-kinematic precise relative positioning technology of the demand of carrier aircraft landing.The main work and conclusions are as follows:1.The data quality of BeiDou observations is evaluated and analyzed.The existing pseudo-range and carrier phase observation quality assessment methods are summarized and used to evaluate the data quality of both BeiDou Regional Satellite Navigation System and BeiDou Global Satellite Navigation System.The results show that there are satellite-induced multipath errors in BeiDou regional system code pseudo-range measurement,while the Beidou global system signals have no such obvious error.And among the multi-frequency signals of BeiDou Global Satellite Navigation System,the B2a+b signal has the highest pseudo-range measurement accuracy as well as the best anti-multipath performance,while the B1 C signal performs the worst in both aspects.The pseudo-range measurement accuracy of Bs signal is relatively poor,yet better than that of the B1 C signal.2.The ambiguity resolution strategy of BeiDou kinematic-to-kinematic precise relative positioning is studied,and a new geometry-free and geometry-based combined partial ambiguity resolution is proposed.The method first uses un-differenced MW combination smoothing to fix the extra-wide-line and wide-line ambiguity which are then used as the constraint information to participate in the geometric pattern ambiguity resolution filter.Finally,according to certain ambiguity subset selection strategy,the partial ambiguity resolution is done by the LAMBDA algorithm.The experiment results show that the method can improve the reliability of ambiguity resolution.3.The impact of BeiDou satellite-induced multipath errors on wide-lane ambiguity resolution is systematically studied,and its influence on the dynamic ambiguity resolution strategy is analyzed.The results show that,under the conditions of single station,the satellite-induced multipath errors will influence the un-differenced and between-satellite single-differenced ambiguity resolution.And under the conditions of relative positioning,the double-differenced wide-lane ambiguity resolution for zero and short baseline is free from effects of the satellite-induced multipath errors,while the long-baseline double-differenced wide-lane ambiguity resolution is severely impacted by it.And the fixing rate of long-baseline double-differenced wide-lane ambiguity improves significantly after the errors are corrected.As the kinematic-to-kinematic ambiguity resolution strategy use un-differenced MW combination smoothing,the double difference can not eliminate the impact of the satellite-induced multipath errors since the smoothing of the base station and the rover station is not synchronous,consequently the error need to be corrected.4.A new real time cycle slip detection and repair scheme for kinematic-to-kinematic relative positioning is proposed.The geometry-free phase combination is used to detect the cycle slip,and the ionosphere-weighted geometry-free model and the LAMBDA algorithm are used to determine the cycle slip.And with reference to the partial ambiguity resolution,the following cycle slip repair strategies are discussed for the smoothing of wide-line ambiguity: 1)When the original carrier phase cycle slip pass the test,the original carrier phase cycle slip is repaired;2)When the original carrier phase cycle slip does not pass the test,the wide-line cycle slip is then determined,and once the wide-line circle slip pass the test,the wide-line ambiguity smoothing trend is maintained;3)If neither the original carrier phase cycle slip and the wide-line cycle slip pass the test,the wide-line ambiguity is then re-smoothed.5.The precision level that can be reached when the BeiDou kinematic-to-kinematic precise relative positioning is used for carrier aircraft landing is evaluated.The results show that the accuracy of extra-wide-line constrained solution cannot meet the required accuracy of the final stage of carrier aircraft landing,but it can meet the demand when the aircraft does not enter the precisely approaching area.While the wide-line solution and the B1/B2/B3 fixed solution can meet the precision requirements of the final stage of carrier aircraft landing.