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Rapid Re-Convergence of Real-Time Dynamic Precise Point Positioning by Adding Velocity Constraints

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Abstract—

In challenging environments like urban vehicle navigation and geological hazards, the GNSS signals are easily blocked, and the long re-convergence time seriously limits many applications of real-time dynamic precise point positioning. Considering that the velocity accuracy is better than the position during re-convergence epochs, we proposed a real-time rapid-positioning method by introducing velocity constraints into the dynamic PPP. According to the different motion states and environments, different velocity constraints are used adaptively. For example, the zero-velocity constraint model is used in the stationary state; the Doppler-velocity constraint model is used when the most visible satellites are temporarily blocked; the other-sensors-velocity constraint model is used when the satellite signal is blocked frequently. Considering that the inaccurate dynamic model will affect the dynamic positioning results, the velocity constraint can be gradually relaxed after the GNSS signals are reacquired and the ambiguity gradually converges. Based on static and kinematic experiments with GPS data, the results show that when the number of visible satellites is greatly dropped due to signal blocking, the new positioning method can significantly speed up the re-convergence of precise point positioning, maintain high accuracy and improve the continuity of real-time dynamic positioning in a short time.

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Funding

This work was supported by the National Key Research and Development Plan of China (project: Research on key technologies of high-precision positioning and remote communication for geological disaster rescue platform, no. 2019YFC1511504).

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Authors and Affiliations

  1. State Key Laboratory of Satellite Navigation System and Equipment Technology, Shijiazhuang, China

    Xingxing Wang, Chuanzhen Sheng, Baoguo Yu, Ziteng Zhang, Jingkui Zhang & Qingwu Yi

  2. The 54th Research Institute of China Electronics Technology Group Corporation, Shijiazhuang, China

    Xingxing Wang, Chuanzhen Sheng, Baoguo Yu, Ziteng Zhang, Jingkui Zhang & Qingwu Yi

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  1. Xingxing Wang
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  2. Chuanzhen Sheng
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  3. Baoguo Yu
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  4. Ziteng Zhang
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  5. Jingkui Zhang
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Correspondence to Xingxing Wang.

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Xingxing Wang, Sheng, C., Yu, B. et al. Rapid Re-Convergence of Real-Time Dynamic Precise Point Positioning by Adding Velocity Constraints. Gyroscopy Navig. 13, 283–293 (2022). https://doi.org/10.1134/S2075108722040125

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