Abstract
Aiming at the problem of low accuracy and stability of smartphone RTK positioning results, this paper proposes a smartphone RTK algorithm based on velocity constraint. The double difference of time-difference carrier phase (DD-TDCP) is used to constrain the vehicle velocity to improve the accuracy of state prediction. Moreover, we also use Huber-based Kalman filter to improve the accuracy and stability of the positioning. Experiments show that, compared with the original solution without velocity constraints, the solution accuracy of the proposed algorithm is centimeter-level in ambiguity-fix state in the static test, and the fix rate is 28.7% higher than the original solution, with a faster convergence speed. In the driving test, the accuracy of our solution is 23.9% better than the original solution and is more robust. On an open-sky road, the absolute normal error CEP95 is within 1.2 m, and in better conditions, the CEP90 is within 0.5 m.
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Zhang, Q., Bai, Z., Xin, H., Yuan, Y. (2022). A Smartphone RTK Algorithm Based on Velocity Constraint. In: Yang, C., Xie, J. (eds) China Satellite Navigation Conference (CSNC 2022) Proceedings. CSNC 2022. Lecture Notes in Electrical Engineering, vol 908. Springer, Singapore. https://doi.org/10.1007/978-981-19-2588-7_41
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DOI: https://doi.org/10.1007/978-981-19-2588-7_41
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