{"id":4055,"date":"2023-02-08T08:54:21","date_gmt":"2023-02-08T00:54:21","guid":{"rendered":"http:\/\/192.168.10.115\/index.php\/2023\/02\/08\/4055\/"},"modified":"2023-02-08T11:06:25","modified_gmt":"2023-02-08T03:06:25","slug":"%e8%87%aa%e5%8a%a8%e9%a9%be%e9%a9%b6%e4%bc%a0%e6%84%9f%e5%99%a8%ef%bc%88%e4%ba%94%ef%bc%89%ef%bc%9a%e5%8d%ab%e6%98%9f%e5%af%bc%e8%88%aagnss-rtk%e5%8e%9f%e7%90%86","status":"publish","type":"post","link":"http:\/\/222.128.65.89:18086\/index.php\/2023\/02\/08\/4055\/","title":{"rendered":"\u81ea\u52a8\u9a7e\u9a76\u4f20\u611f\u5668\uff08\u4e94\uff09\uff1a\u536b\u661f\u5bfc\u822aGNSS-RTK\u539f\u7406"},"content":{"rendered":"

\u53d1\u5e03\u4e8e 2023-02-07 21:56\u30fbIP \u5c5e\u5730\u5317\u4eac\u00a0\u00a0\u200b<\/p>\n

\u76ee\u5f55,\u4f5c\u8005\uff1aBUAA\u706b\u8f66\u4fa0<\/p>\n

\u6210\u6587\u65e5\u671f\uff1a2022\/01\/17<\/p>\n

0. \u524d\u8a00<\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u7684\u611f\u77e5\u5c42\u91cc\u9762\uff0c\u524d\u9762Lidar\uff0cRadar\uff0cCamera\u7684\u4ecb\u7ecd\u4e4b\u524d\u5df2\u5199\u5b8c\u3002\u8fd8\u5deeGNSS-RTK\u548cIMU\u6a21\u5757\u5c31\u8865\u9f50\u4e86\u4e3b\u8981\u7684\u81ea\u52a8\u9a7e\u9a76\u611f\u77e5\u5c42\u7684\u786c\u4ef6\uff0c\u800c\u901a\u5e38\u8fd9\u4fe9\u6a21\u5757\u4f1a\u88ab\u96c6\u6210\u5230\u4e00\u8d77\u5f62\u6210\u6240\u8c13\u7684\u201c\u7ec4\u5408\u5bfc\u822a\u201d\u3002<\/p>\n

\u53e6\u5916\uff0cLidar\uff0ccamera\u7b49\u4f20\u611f\u5668\u8f93\u51fa\u7684\u6570\u636e\u90fd\u9700\u8981\u7ecf\u8fc7\u8f83\u4e3a\u590d\u6742\u7684\u5904\u7406\u8ba1\u7b97\uff0c\u800cGNSS\uff0cIMU\u5219\u90fd\u53ef\u4ee5\u8f93\u51fa\u7b80\u5355\u3001\u76f4\u89c2\u7684\u4f4d\u7f6e\u6570\u636e\u3002\u56e0\u6b64\uff0c\u5b83\u4eec\u4e5f\u662f\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d \u201c\u5b9a\u4f4d\u6a21\u5757 Localization\u201d\u7684\u91cd\u8981\u7ec4\u6210\u90e8\u5206\u3002\u5f00\u59cb\u5427~<\/p>\n

1. GNSS\u5b9a\u4f4d\u7cfb\u7edf\u6982\u8ff0<\/p>\n

1.1 GNSS\u2014\u2014Global Navigation Satellite System<\/p>\n

GNSS\u662f\u5229\u7528\u536b\u661f\u6765\u7cbe\u786e\u6d4b\u5b9a\u5730\u7403\u4e0a\u4efb\u4e00\u70b9\u65f6\u95f4\u548c\u4f4d\u7f6e\u7684\u7cfb\u7edf\u3002\u5176\u63d0\u4f9b\u7684\u670d\u52a1\u6709\uff1a<\/p>\n

\u7cbe\u786e\u4f4d\u7f6e(\u7ecf\u5ea6\u3001\u7eac\u5ea6\u548c\u9ad8\u5ea6\u5750\u6807)\uff0c\u7cbe\u5ea6\u8303\u56f4\u572820m\u5230\u7ea61mm\u4e4b\u95f4\u3002<\/p>\n

\u7cbe\u786e\u65f6\u95f4(\u534f\u8c03\u4e16\u754c\u65f6\uff0c\u5373UTC)\uff0c\u7cbe\u5ea6\u8303\u56f4\u572860ns\u5230\u7ea65ns\u4e4b\u95f4\u3002<\/p>\n

<\/p>\n

GPS\u7684\u57fa\u672c\u529f\u80fd\uff1a\u5b9a\u65f6\uff0c\u5b9a\u4f4d<\/p>\n

\u5bf9\u4e8e\u5b9a\u4f4d\u529f\u80fd\uff0cGNSS\u5229\u75284\u4e2a\u4ee5\u4e0a\u536b\u661f\u7684\u4f2a\u8ddd\u3001\u661f\u5386\u3001\u536b\u661f\u65f6\u949f\u6570\u636e\u7b49\u6570\u636e\uff0c\u5373\u53ef\u63a8\u7b97\u51fa\u7528\u6237\u5f53\u524d\u7684\u4f4d\u7f6e\u3002\u76ee\u524d\u5168\u7403\u4e00\u5171\u6709\u56db\u79cdGNSS\u7cfb\u7edf\u3002<\/p>\n

1.2 \u56db\u79cdGNSS\u7cfb\u7edf\uff08\u65e0\u804a\uff0c\u53ef\u4ee5\u4e0d\u770b\uff09<\/p>\n

\u7f8e\u56fd\uff1aGPS\uff08Global Positioning System\uff09<\/p>\n

GPS\u662f\u536b\u661f\u5bfc\u822a\u7684\u9996\u521b\u8005\uff0c1970s\uff0c\u7f8e\u56fd\u56fd\u9632\u90e8\u4e3a\u4e86\u7ed9\u519b\u961f\u63d0\u4f9b\u5b9e\u65f6\u3001\u5168\u5929\u5019\u7684\u5168\u7403\u5bfc\u822a\u670d\u52a1\uff0c\u5e76\u8fdb\u884c\u60c5\u62a5\u6536\u96c6\u3001\u5e94\u6025\u901a\u8baf\u7b49\u4e00\u4e9b\u519b\u4e8b\u76ee\u7684\uff0c\u5f00\u59cb\u7814\u5236\u201c\u5bfc\u822a\u536b\u661f\u5b9a\u65f6\u548c\u6d4b\u8ddd\u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf\u201d\u3002\u540e\u7eed\u6269\u5c55\u5230\u4e86\u6c11\u7528\u9886\u57df\u3002GPS\u7531\u7f8e\u56fd\u7a7a\u519b\u7b2c50\u822a\u7a7a\u8054\u961f\u8d1f\u8d23\u8fd0\u8425\uff0c\u4e16\u754c\u8303\u56f4\u5185\u7684GPS\u8bbe\u5907\u5728\u751f\u4ea7\u9636\u6bb5\uff0c\u90fd\u9700\u8981\u7ed9\u7f8e\u56fd\u56fd\u9632\u90e8\u7f34\u7eb3\u6388\u6743\u8d39\u7528\u3002<\/p>\n

\u8d77\u521dGPS\u9488\u5bf9\u519b\u7528\u4e0e\u6c11\u7528\u63d0\u4f9b\u4e86\u4e0d\u540c\u7684\u6d4b\u91cf\u7cbe\u5ea6\uff0c\u519b\u7528\u4e3a3\u7c73\uff0c\u800c\u6c11\u7528\u4fe1\u53f7\u589e\u52a0\u5e72\u6270\u673a\u5236\u3002\u540e\u6765\u57282000\u5e74\uff0cGPS\u53d6\u6d88\u4e86\u6c11\u7528\u4fe1\u53f7\u7684\u5e72\u6270\uff0c\u63a8\u52a8\u4e86\u6c11\u7528\u9886\u57df\u7684\u666e\u53ca\u3002<\/p>\n

\u5728\u4e2d\u56fd\u56fd\u5185\uff0c\u51fa\u4e8e\u56fd\u5bb6\u5b89\u5168\u8003\u8651\uff0c\u6240\u6709\u6c11\u7528GNSS\u63a5\u6536\u8bbe\u5907\u90fd\u9700\u8981\u91c7\u7528\u4e0d\u53ef\u9006\u7684\u52a0\u504f\u7b97\u6cd5\uff0c\u4f7f\u5176\u5b9a\u4f4d\u4e0d\u51c6\u786e\u3002<\/p>\n

\u4e2d\u56fd\uff1a\u5317\u6597\u5bfc\u822a\u7cfb\u7edf<\/p>\n

2020\u5e747\u6708\uff0c\u6211\u56fd\u7684\u5317\u6597\u4e09\u53f7\u7cfb\u7edf\u6b63\u5f0f\u542f\u7528\uff0c\u5317\u6597\u91c7\u7528\u4e09\u9891\u4fe1\u53f7\u5411\u7528\u6237\u5e7f\u64ad\u5bfc\u822a\u6570\u636e\u3002\u4e09\u79cd\u9891\u7387\u4fe1\u53f7\u53ef\u4ee5\u66f4\u597d\u5730\u6d88\u9664\u9ad8\u9636\u7535\u79bb\u5c42\u5ef6\u8fdf\u5f71\u54cd\uff0c\u63d0\u9ad8\u5b9a\u4f4d\u53ef\u9760\u6027\u548c\u6297\u5e72\u6270\u80fd\u529b\u3002<\/p>\n

\u5317\u6597\u8fd8\u53ef\u4ee5\u63d0\u4f9b\u77ed\u62a5\u6587\u901a\u4fe1\u670d\u52a1\uff0c\u662f\u4e00\u9879\u5b9e\u7528\u6027\u5f88\u5f3a\u7684\u529f\u80fd\uff0c\u53ef\u4f5c\u519b\u4e8b\u4e0a\u7d27\u6025\u901a\u4fe1\u3001\u6c42\u6551\u4fe1\u53f7\u7684\u624b\u6bb5\u3002<\/p>\n

\u4fc4\u7f57\u65af\uff1a\u683c\u6d1b\u7eb3\u65af\uff08GLONASS\uff09<\/p>\n

\u4fc4\u7f57\u65af\u7684\u683c\u6d1b\u7eb3\u65af\u536b\u661f\u91c7\u7528\u9891\u5206\u591a\u5740\u6280\u672f(FDMA)\u3002\u683c\u6d1b\u7eb3\u65af\u536b\u661f\u90fd\u53d1\u5c04\u540c\u6837\u7684\u4f2a\u968f\u673a\u7801\uff0c\u4f46\u91c7\u7528\u4e0d\u540c\u7684\u9891\u7387\u53d1\u5c04\u3002\u5177\u6709\u6297\u5e72\u6270\u80fd\u529b\u548c\u6297\u4e92\u76f8\u5173\u7684\u7279\u6027\u3002\u4f46\u9891\u5206\u591a\u5740\u6280\u672f\u9020\u6210\u7528\u6237\u63a5\u6536\u673a\u4f53\u79ef\u5e9e\u5927\u9020\u4ef7\u6602\u8d35\uff0c\u57fa\u672c\u65e0\u6cd5\u5e94\u7528\u4e8e\u6c11\u7528\u5e02\u573a\u3002<\/p>\n

\u683c\u6d1b\u7eb3\u65af\u6240\u7528\u7684\u5750\u6807\u7cfb\u662f 1990 \u5e74\u82cf\u8054\u6240\u5236\u5b9a\u7684 PZ-90 \u53c2\u8003\u5750\u6807\u7cfb\uff0c\u5176\u65f6\u95f4\u7cfb\u7edf\u4e0e\u83ab\u65af\u79d1\u6807\u51c6\u65f6\u95f4 UTC+3\u5173\u8054\uff0c\u5176\u4e0eGPS\u65f6\u95f4\u6709\u6570\u5341\u7eb3\u79d2\u7684\u5dee\u5f02\u3002\u7531\u4e8e\u5730\u7f18\u653f\u6cbb\u5173\u7cfb\uff0c\u4fc4\u7f57\u65af\u65e0\u6cd5\u5728\u5176\u4ed6\u56fd\u5bb6\u90e8\u7f72\u8f83\u591a\u5730\u9762\u7ad9\u70b9\uff0c\u56e0\u6b64\u5176\u5b9a\u4f4d\u7cbe\u5ea6\u5728\u4fc4\u7f57\u65af\u4ee5\u5916\u7684\u56fd\u5bb6\u4e5f\u6bd4\u8f83\u5dee\u3002<\/p>\n

\u6b27\u76df\uff1a\u4f3d\u5229\u7565\uff08Galileo\uff09<\/p>\n

\u4f3d\u5229\u7565\u7cfb\u7edf\u91c7\u7528\u4e0e GPS \u7c7b\u4f3c\u7684\u7801\u5206\u591a\u5740\u6280\u672f\uff0c\u4ee5\u533a\u522b\u4e0d\u540c\u7684\u536b\u661f\u3002\u4f3d\u5229\u7565\u4fe1\u53f7\u7ed3\u6784\u6bd4GPS\u6c11\u7528\u7801\u4fe1\u53f7\u590d\u6742\uff0c\u5176\u4fe1\u53f7\u4f20\u8f93\u901f\u7387\u4ece50bit\u6bcf\u79d2\u52301000bit\u6bcf\u79d2\u4e0d\u7b49\u3002\u4f3d\u5229\u7565\u7cfb\u7edf\u63d0\u4f9b\u542b\u6709\u6d4b\u8ddd\u7801\u548c\u6570\u636e\u4fe1\u606f\u7684\u5bfc\u822a\u4fe1\u53f7\uff0c\u6d4b\u8ddd\u7801\u7531\u6bcf\u9897\u536b\u661f\u4e0a\u7684\u9ad8\u7a33\u5b9a\u5ea6\u661f\u949f\u4ea7\u751f\uff0c\u6570\u636e\u4fe1\u606f\u5219\u7531\u5730\u9762\u4e0a\u884c\u6ce8\u5165\u7ad9\u5411\u536b\u661f\u53d1\u9001\u3002\u5bfc\u822a\u7535\u6587\u7684\u5185\u5bb9\u5305\u62ec\u661f\u949f\u3001\u661f\u5386\u3001\u8bc6\u522b\u7801\u548c\u72b6\u6001\u6807\u8bc6\u7b49\uff0c\u4ee5\u53ca\u80fd\u4f7f\u7528\u6237\u9884\u6d4b\u661f\u949f\u548c\u661f\u5386\u7cbe\u5ea6\u7684\u201c\u7a7a\u95f4\u7cbe\u5ea6\u4fe1\u606f\u201d\u3002<\/p>\n

1.3 GNSS\u7ec4\u6210<\/p>\n

GNSS\u7cfb\u7edf\u7531\u4e09\u90e8\u5206\u7ec4\u6210\uff1a\u7a7a\u57fa\u536b\u661f\uff0c\u5730\u9762\u76d1\u63a7\u7ad9\u4ee5\u53ca\u7528\u6237\u63a5\u6536\u8bbe\u5907\u3002<\/p>\n

1.3.1 \u5730\u9762\u76d1\u63a7\u7ad9<\/p>\n

\u4ee5GPS\u4e3a\u4f8b\uff0c\u5176\u5730\u9762\u76d1\u63a7\u90e8\u5206\u4e3b\u8981\u7531\u5206\u5e03\u5728\u5168\u7403\u7684\u4e3b\u63a7\u7ad9\uff0c\u6ce8\u5165\u7ad9\u548c\u76d1\u6d4b\u7ad9\u7ec4\u6210\u3002<\/p>\n

<\/p>\n

GPS \u5730\u9762\u76d1\u63a7\u90e8\u5206\u7684\u5206\u5e03<\/p>\n

\u4e3b\u63a7\u7ad9<\/p>\n

GPS\u7684\u4e3b\u63a7\u7ad9\u4f4d\u4e8e\u79d1\u7f57\u62c9\u591a\u5dde\u7684Falcon\u7a7a\u519b\u57fa\u5730\u3002\u8d1f\u8d23\u534f\u8c03\u63a7\u5236\u5730\u9762\u76d1\u63a7\u90e8\u5206\u7684\u5de5\u4f5c\uff0c\u901a\u8fc7\u63a5\u6536\u3001\u5904\u7406\u6240\u6709\u76d1\u6d4b\u7ad9\u4f20\u6765\u7684\u6570\u636e\uff1a<\/p>\n

\u8ba1\u7b97\u536b\u661f\u661f\u5386\u3001\u65f6\u949f\u4fee\u6b63\u3001\u72b6\u6001\u6570\u636e\u3001\u4fe1\u53f7\u7535\u79bb\u5c42\u5ef6\u8fdf\u4fee\u6b63\u7b49\uff1b<\/p>\n

\u7f16\u7b97\u5bfc\u822a\u7535\u6587\u5e76\u4f20\u9001\u5230\u6ce8\u5165\u7ad9\uff1b<\/p>\n

\u8bca\u65ad\u536b\u661f\u72b6\u6001\uff0c\u8c03\u5ea6\u536b\u661f\u3002<\/p>\n

\u7ed9\u5b9a\u5168\u7403\u5b9a\u4f4d\u7cfb\u7edf\u65f6\u95f4\u57fa\u51c6\u3002\u8c03\u6574\u536b\u661f\u8fd0\u52a8\u72b6\u6001\uff0c\u542f\u52a8\u5907\u7528\u536b\u661f\u3002<\/p>\n

\u5730\u9762\u76d1\u6d4b\u7ad9<\/p>\n

\u76d1\u6d4b\u7ad9\u662f\u5728\u4e3b\u63a7\u7ad9\u63a7\u5236\u4e0b\u7684\u4e00\u4e2a\u6570\u636e\u81ea\u52a8\u91c7\u96c6\u4e2d\u5fc3\uff0c\u5176\u4e3b\u8981\u88c5\u7f6e\u5305\u62ecGPS\u53cc\u9891\u63a5\u6536\u673a\u3001\u9ad8\u7cbe\u5ea6\u539f\u5b50\u949f\u3001\u8ba1\u7b97\u673a\u3001\u73af\u5883\u6570\u636e\u4f20\u611f\u5668\u7b49\u3002<\/p>\n

\u76d1\u6d4b\u7ad9\u7684\u4e3b\u8981\u4efb\u52a1\u662f\u901a\u8fc7\u63a5\u6536\u673a\u5bf9GPS\u536b\u661f\u8fdb\u884c\u8fde\u7eed\u89c2\u6d4b\u548c\u6570\u636e\u91c7\u96c6\uff0c\u6536\u96c6\u79ef\u5206\u591a\u666e\u52d2\u89c2\u6d4b\u503c\u3001\u536b\u661f\u65f6\u949f\u3001\u5de5\u4f5c\u72b6\u6001\u6570\u636e\u7b49\u6570\u636e\u3002\u540c\u65f6\u901a\u8fc7\u73af\u5883\u4f20\u611f\u5668\u91c7\u96c6\u6709\u5173\u5f53\u5730\u7684\u6c14\u8c61\u6570\u636e\uff0c\u4f20\u9001\u7ed9\u4e3b\u63a7\u7ad9\u3002<\/p>\n

\u5730\u9762\u6ce8\u5165\u7ad9<\/p>\n

\u6ce8\u5165\u7ad9\u662f\u5411\u536b\u661f\u6ce8\u5165\u5bfc\u822a\u7535\u6587\u548c\u63a7\u5236\u6307\u4ee4\u7684\u5730\u9762\u65e0\u7ebf\u7535\u53d1\u5c04\u7ad9\u3002\u6ce8\u5165\u7ad9\u63a5\u6536\u6765\u81ea\u4e3b\u63a7\u7ad9\u7684\u5bfc\u822a\u7535\u6587\u548c\u536b\u661f\u63a7\u5236\u6307\u4ee4\uff0c\u7ecf\u5c04\u9891\u94fe\u8def\u53d1\u9001\u7ed9\u5404\u5bfc\u822a\u536b\u661f\u3002\u6ce8\u5165\u7ad9\u7684\u4e3b\u8981\u8bbe\u5907\u662f\u4e00\u5957\u76f4\u5f843.6m\u7684\u53d1\u5c04\u5929\u7ebf\u548c\u4e00\u53f0C\u6ce2\u6bb5\u53d1\u5c04\u673a\uff0840-8.0GHz\u9891\u6bb5\uff09\u3002<\/p>\n

\u5bfc\u822a\u7535\u6587\u901a\u5e38\u5305\u62ec\u9884\u62a5\u7684\u536b\u661f\u8f68\u9053\u53c2\u6570\uff08\u5373\u536b\u661f\u661f\u5386\u8868\uff09\u3001\u536b\u661f\u65f6\u949f\u504f\u5dee\u53c2\u6570\u4ee5\u53ca\u8f68\u9053\u548c\u949f\u5dee\u7684\u6539\u6b63\u53c2\u6570\u7b49\u3002\u536b\u661f\u63a7\u5236\u6307\u4ee4\u901a\u5e38\u5305\u62ec\u6709\u6548\u8f7d\u8377\u63a7\u5236\u6307\u4ee4\u548c\u536b\u661f\u5e73\u53f0\u63a7\u5236\u6307\u4ee4\u3002<\/p>\n

\u5730\u9762\u76d1\u63a7\u90e8\u5206\u90e8\u5206\u7684\u6570\u636e\u6d41\u52a8\u4e3a\uff1a\u536b\u661f\u8fd0\u884c -> \u76d1\u6d4b\u7ad9\u89c2\u6d4b -> \u4e3b\u63a7\u7ad9\u8ba1\u7b97 -> \u6ce8\u5165\u7ad9\u6ce8\u5165 -> \u536b\u661f\u5f97\u77e5\u661f\u5386 -> \u5e7f\u64ad\u7ed9\u5730\u9762\u63a5\u6536\u673a\uff1b<\/p>\n

1.3.2 \u7a7a\u57fa\u536b\u661f<\/p>\n

GPS\u7684\u7a7a\u57fa\u536b\u661f\u4e00\u5171\u670924\u9897\uff0c\u5176\u4e2d3\u9897\u662f\u5907\u7528\u536b\u661f\uff0c\u90e8\u7f72\u57286\u4e2a\u4e2a\u8f68\u9053\u5e73\u9762\uff0c\u5e73\u5747\u9ad8\u5ea6\u7ea6\u4e3a 202002km\uff0c\u8fd0\u884c\u5468\u671f\u4e3a 11h58min\u3002\u5317\u6597\u3001\u4f3d\u5229\u7565\u3001\u683c\u6d1b\u7eb3\u65af\u536b\u661f\u6570\u91cf\u57fa\u672c\u5927\u540c\u5c0f\u5f02\uff0c\u90fd\u662f30\u9897\u5de6\u53f3\u3002\u6700\u91cd\u8981\u7684\u539f\u5219\u5c31\u662f\uff1a\u4fdd\u8bc1\u5728\u5730\u7403\u5404\u5904\u80fd\u540c\u65f6\u89c2\u6d4b\u5230\u9ad8\u5ea6\u89d2\u4e3a15\u00b0\u4ee5\u4e0a\u7684\u81f3\u5c11 4 \u9897\u536b\u661f\u3002<\/p>\n

GNSS\u536b\u661f\u4f1a\u88c5\u6709\u5b9a\u5411\u592a\u9633\u80fd\u5e06\u677f\uff0c\u4ee5\u4fdd\u8bc1\u536b\u661f\u6b63\u5e38\u5de5\u4f5c\u7528\u7535\u3002\u536b\u661f\u4e0a\u5b89\u88c5\u7684\u591a\u6ce2\u675f\u5b9a\u5411\u5929\u7ebf\uff0c\u5176\u53d1\u5c04\u6ce2\u675f\u80fd\u8986\u76d6\u7ea6\u534a\u4e2a\u5730\u7403\u3002\u6bcf\u4e00\u4e2a\u536b\u661f\u4e0a\u90fd\u914d\u5907\u4e86\u9ad8\u7cbe\u5ea6\u7684\u94ef\u539f\u5b50\u949f\uff0c\u63d0\u4f9b\u9ad8\u7cbe\u5ea6\u7684\u65f6\u95f4\u3002\u9664\u6b64\u4e4b\u5916\uff0c\u536b\u661f\u8fd8\u6709\u4e0e\u5730\u9762\u7684\u901a\u4fe1\u7cfb\u7edf\uff0c\u59ff\u6001\u63a7\u5236\u7cfb\u7edf\u4ee5\u53ca\u8f68\u9053\u63a7\u5236\u7cfb\u7edf\u7b49\u3002<\/p>\n

<\/p>\n

\u536b\u661f\u661f\u5ea7\u8f68\u9053<\/p>\n

1.3.3 \u7528\u6237\u63a5\u6536\u5668<\/p>\n

\u5730\u9762\u76d1\u63a7\u7ad9\u4e3a\u536b\u661f\u786e\u5b9a\u4e86\u51c6\u786e\u7684\u4f4d\u7f6e\uff0c\u7136\u540e\u536b\u661f\u5b9e\u65f6\u5411\u5730\u7403\u5e7f\u64ad\u81ea\u8eab\u4fe1\u606f\u3002\u7528\u6237\u901a\u8fc7GPS\u63a5\u6536\u673a\u63a5\u6536\u5230\u591a\u9897\u7684\u536b\u661f\u8f68\u9053\u4fe1\u606f\u548c\u65f6\u95f4\uff0c\u4e8e\u662f\u7528\u6237\u5c31\u77e5\u9053\u4e86\u81ea\u5df1\u76f8\u5bf9\u4e8e\u536b\u661f\u7684\u8ddd\u79bb R_i \uff0c\u800c\u536b\u661f\u81ea\u8eab\u5750\u6807 \uff08x_i,y_i,z_i\uff09 \u76f8\u5bf9\u4e8e\u5730\u7403\u7684\u4f4d\u7f6e\u662f\u5df2\u77e5\u7684\uff0c\u6240\u4ee5\u5c31\u80fd\u89e3\u7b97\u51fa\u7528\u6237\u5728\u5730\u7403\u7684\u5177\u4f53\u4f4d\u7f6e\u3002<\/p>\n

2. \u65f6\u95f4\u3001\u7a7a\u95f4\u5750\u6807\u7cfb<\/p>\n

\u4e0a\u4e00\u7ae0\u7ed3\u5c3e\u6211\u4eec\u63d0\u5230\u4e86\u536b\u661f\u3001\u63a5\u6536\u8005\u7684\u5750\u6807\u4fe1\u606f\u4ee5\u53ca\u65f6\u95f4\u4fe1\u606f\u3002\u201c\u5b9a\u4f4d\u201d\u548c\u201c\u5b9a\u65f6\u201d\u9700\u8981\u57fa\u4e8e\u7edf\u4e00\u7684\u5750\u6807\u7cfb\u4e0e\u7edf\u4e00\u7684\u8868\u793a\u65b9\u6cd5\uff0c\u90a3\u4e48\uff0cGNSS\u7cfb\u7edf\u662f\u57fa\u4e8e\u54ea\u79cd\u7edf\u4e00\u7684\u65f6\u95f4\u548c\u7a7a\u95f4\u5750\u6807\u7cfb\u7684\u5462\uff1f<\/p>\n

2.1 \u4f4d\u7f6e\u5750\u6807\u7cfb<\/p>\n

\u5bf9\u4e8e\u4f4d\u7f6e\u7684\u8868\u8fbe\uff0c\u6211\u4eec\u81ea\u7136\u800c\u7136\u5730\u60f3\u5230\u7684\u662f\uff1a\u7ecf\u5ea6\u3001\u7ef4\u5ea6\u548c\u6d77\u62d4\u3002\u8fd9\u662f\u57fa\u4e8e\u201c\u5730\u7403\u8fd1\u4f3c\u4e00\u4e2a\u692d\u7403\u4f53\u201d\u7684\u4e8b\u5b9e\u4e0b\uff0c\u6700\u4e3a\u65b9\u4fbf\u7684\u8868\u8fbe\u3002\u800c\u4e8b\u5b9e\u4e0a\uff0c\u7528\u201c\u6d77\u62d4\u201d\u6765\u8868\u8ff0\u9ad8\u5ea6\u5e76\u4e0d\u51c6\u786e\uff0c\u56e0\u4e3a\u4e16\u754c\u5404\u5730\u7684\u6d77\u5e73\u9762\u9ad8\u5ea6\u4f1a\u7531\u4e8e\u5404\u79cd\u56e0\u7d20\u800c\u4e0d\u4e00\u6837\uff0c\u6240\u4ee5\u66f4\u52a0\u51c6\u786e\u7684\u8868\u8fbe\u5e94\u8be5\u662f\u201c\u9ad8\u7a0b\u201d\u3002\u987a\u7740\u8fd9\u4e2a\u60f3\u6cd5\uff0c\u6211\u4eec\u4ee5\u5730\u7403\u8d28\u5fc3\u4e3a\u539f\u70b9\uff0c\u8d64\u9053\u5e73\u9762\u4e3aXOY\u9762\uff0c\u5730\u7406\u5317\u6781\u4f5c\u4e3aZ\u8f74\uff0cX\u8f74\u6307\u5411\u672c\u521d\u5b50\u5348\u7ebf\u4e0e\u5730\u7403\u8d64\u9053\u4ea4\u70b9\uff0c\u5373\u53ef\u5efa\u7acb\u4e00\u4e2a\u7b1b\u5361\u5c14\u5750\u6807\u7cfb\u3002\u8be5\u4ee5\u5730\u5fc3\u4e3a\u539f\u70b9\u7684\u5750\u6807\u7cfb\u56fa\u5b9a\u5728\u5730\u7403\u4e0a\uff0c\u968f\u7740\u5730\u7403\u7684\u81ea\u8f6c\u4e00\u8d77\u8fd0\u52a8\u3002\u6211\u4eec\u5c06\u8fd9\u79cd\u5750\u6807\u7cfb\u79f0\u4e3a\u201c\u5730\u5fc3\u5730\u56fa\u5750\u6807\u7cfb\u201d ECEF\uff08earth centered earth fixed coordinate system\uff09\u3002<\/p>\n

<\/p>\n

\u5730\u5fc3\u5730\u56fa\u5750\u6807\u7cfb\uff0cFrom wikipedia<\/p>\n

\u76f8\u5bf9\u5e94\u7684\uff0c\u8fd8\u6709\u7528\u4e8e\u5929\u4f53\u6d4b\u91cf\uff0c\u5730\u9762\u4e0a\u7684\u70b9\u5750\u6807\u503c\u53d7\u5230\u5730\u7403\u81ea\u8f6c\u5f71\u54cd\u7684\u5929\u7403\u5750\u6807\u7cfb\u3002\u800c\u5728\u5730\u56fa\u5750\u6807\u7cfb\u4e2d\uff0c\u4ee5\u5730\u7403\u8d28\u5fc3\u4f5c\u4e3a\u539f\u70b9\u7684\u53eb\u201c\u5730\u5fc3\u5730\u56fa\u5750\u6807\u7cfb\u201d\uff0c\u4ee5\u53c2\u8003\u692d\u7403\u7684\u51e0\u4f55\u4e2d\u5fc3\u4e3a\u539f\u70b9\u7684\u53eb\u201c\u53c2\u5fc3\u5750\u6807\u7cfb\u201d\uff0c\u8fd9\u91cc\u6211\u4eec\u4e0d\u505a\u5c55\u5f00\u3002<\/p>\n

<\/p>\n

\u5750\u6807\u7cfb\u5206\u7c7b<\/p>\n

2.2 \u5730\u5fc3\u5730\u56fa\u5750\u6807\u7cfb<\/p>\n

\u6211\u4eec\u5df2\u77e5ECEF\u7684\u5b9a\u4e49\uff0c\u90a3\u4e48ECEF\u4e2d\u5404\u8981\u7d20\u7684\u53c8\u662f\u5982\u4f55\u786e\u5b9a\u7684\uff1f\u9996\u5148\u9700\u8981\u660e\u786e\u7684\u662f\uff0c\u5730\u7403\u7684\u8d28\u5fc3\u3001\u5730\u7406\u5317\u6781\u3001\u8d64\u9053\u8fd9\u4e9b\u5730\u7406\u8981\u7d20\u90fd\u4e0d\u662f\u4e00\u6210\u4e0d\u53d8\u7684\u3002\u6bd4\u5982\uff0c\u5730\u7403\u8d28\u5fc3\u53ef\u80fd\u4f1a\u968f\u7740\u5730\u8d28\u8fd0\u52a8\u800c\u53d1\u751f\u504f\u79fb\u3002<\/p>\n

2.2.1 ECEF\u7684\u8981\u7d20\u5b9a\u4e49<\/p>\n

\u5730\u7403\u8d28\u5fc3\uff1a<\/p>\n

\u5730\u7403\u8d28\u5fc3\u5e94\u5f53\u5982\u4f55\u786e\u5b9a or \u6d4b\u91cf\u5462\uff1f\u5176\u53ef\u4ee5\u6839\u636e\u65af\u6258\u514b\u65af\u5b9a\u7406\u548c\u97e6\u5b81-\u8fc8\u5185\u5179\u516c\u5f0f\u5bf9\u5168\u7403\u8303\u56f4\u5185\u7684\u5f15\u529b\u8fdb\u884c\u79ef\u5206\uff0c\u5f97\u51fa\u5730\u5fc3\u5750\u6807\uff1b\u6216\u5229\u7528\u536b\u661f\u89c2\u6d4b\u786e\u5b9a\u3002\u5f53\u524d\u4e3b\u6d41\u65b9\u6cd5\u662f\uff0c\u7efc\u5408\u5229\u7528\u5168\u7403\u5730\u9762\u5927\u5730\u6d4b\u91cf\u8d44\u6599\u548c\u4eba\u9020\u536b\u661f\u89c2\u6d4b\u8d44\u6599\uff0c\u7ec4\u6210\u65b0\u578b\u5f27\u5ea6\u6d4b\u91cf\u65b9\u7a0b\uff0c\u63a8\u6c42\u5c40\u90e8\u5750\u6807\u7cfb\u5bf9\u5730\u5fc3\u5750\u6807\u7cfb\u7684\u8f6c\u6362\u53c2\u6570\u3002\u6839\u636e\u8f6c\u6362\u53c2\u6570\u5c31\u53ef\u628a\u5c40\u90e8\u5750\u6807\u7cfb\u6362\u7b97\u4e3a\u5730\u5fc3\u5750\u6807\u7cfb\u3002<\/p>\n

\u5730\u7406\u5317\u6781\u7684\u6d4b\u91cf\uff1a<\/p>\n

\u7406\u8bba\u4e0a\uff0c\u901a\u8fc7\u6d4b\u91cf\u5317\u6781\u9644\u8fd1\u7684\u6052\u661f\u4f4d\u7f6e\u8f68\u8ff9\uff0c\u5176\u6784\u6210\u7684\u5706\u5fc3\u4f4d\u7f6e\u5373\u4e3a\u5317\u6781\u70b9\u3002<\/p>\n

\u7ecf\u5ea6\u8868\u793a\uff1a<\/p>\n

0\u00b0 \u7eac\u7ebf\u662f\u8d64\u9053\uff0c\u7eac\u5ea6\u662f\u6307\u67d0\u70b9\u4e0e\u5730\u7403\u7403\u5fc3\u7684\u8fde\u7ebf\u548c\u5730\u7403\u8d64\u9053\u9762\u6240\u6210\u7684\u7ebf\u9762\u89d2\u3002\u5176\u4e2d\uff0c\u8d64\u9053\uff08equator\uff09\u6307\u5730\u7403\u8868\u9762\u7684\u70b9\u968f\u5730\u7403\u81ea\u8f6c\u4ea7\u751f\u7684\u8f68\u8ff9\u4e2d\u5468\u957f\u6700\u957f\u7684\u5706\u5468\u7ebf\u3002<\/p>\n

\u7eac\u5ea6\u8868\u793a\uff1a<\/p>\n

0\u00b0 \u7ecf\u7ebf\u662f\u672c\u521d\u5b50\u5348\u7ebf\u3002\u7531\u4e8e\u5730\u7403\u662f\u4e2a\u6241\u692d\u7403\u4f53\uff0c\u7ecf\u5ea6\u6ca1\u6709\u81ea\u7136\u8d77\u70b9\uff0c\u6240\u4ee5\u4eba\u4e3a\u89c4\u5b9a\u7ecf\u8fc7\u4f26\u6566\u683c\u6797\u5c3c\u6cbb\u5929\u6587\u53f0\u65e7\u5740\u7684\u5b50\u5348\u7ebf\u4f5c\u4e3a\u8d77\u70b9\u3002\u4e1c\u7ecf 180\u00b0 \u5373\u897f\u7ecf 180\u00b0\uff0c\u7ea6\u7b49\u540c\u4e8e\u56fd\u9645\u6362\u65e5\u7ebf\uff0c\u6070\u597d\u56fd\u9645\u6362\u65e5\u7ebf\u5728\u767d\u4ee4\u6d77\u5ce1\u9644\u8fd1\uff0c\u6ca1\u6709\u6a2a\u7a7f\u4eba\u7c7b\u5c45\u4f4f\u5bc6\u5ea6\u8f83\u5927\u7684\u5927\u9646\uff0c\u5bf9\u4eba\u751f\u6d3b\u7684\u5f71\u54cd\u8f83\u5c0f\u3002<\/p>\n

\u9ad8\u7a0b\u8868\u793a<\/p>\n

\u6211\u4eec\u5df2\u77e5\uff0c\u5730\u7403\u5e76\u975e\u5b8c\u7f8e\u7684\u7403\u4f53\uff0c\u800c\u662f\u4e00\u4e2a\u8868\u9762\u51f9\u51f8\u4e0d\u5e73\u7684\u8fd1\u4f3c\u692d\u7403\u4f53\u3002\u800c\u4e14\uff0c\u7531\u4e8e\u5730\u7403\u5f15\u529b\u548c\u677f\u5757\u7684\u539f\u56e0\uff0c\u5404\u5904\u7684\u6c34\u5e73\u9762\u4e0e\u5730\u5fc3\u7684\u8ddd\u79bb\u5e76\u4e0d\u4e00\u81f4\u3002\u56e0\u6b64\u9700\u8981\u627e\u5230\u4e00\u79cd\u6bd4\u201c\u6d77\u62d4\u201d\u66f4\u5408\u7406\u7684\u9ad8\u5ea6\u8868\u793a\u65b9\u6cd5\u3002<\/p>\n

\u901a\u7528\u7684\u65b9\u5f0f\u662f\uff1a\u627e\u5230\u4e00\u4e2a\u201c\u4e0e\u5730\u7403\u51e0\u4f55\u6700\u543b\u5408\u7684\u692d\u7403\u4f53\u201d\u2014\u2014\u57fa\u51c6\u692d\u7403\u4f53\u4f5c\u4e3a\u9ad8\u7a0b\u7684\u53c2\u7167\u3002\u8be5\u692d\u7403\u4f53\u7684\u8981\u6c42\u662f\uff1a<\/p>\n

\u4e2d\u5fc3\u4e0e\u5730\u7403\u8d28\u5fc3\u91cd\u5408\uff1b\u77ed\u8f74\u4e0e\u5730\u7403\u81ea\u8f6c\u8f74\u4e00\u81f4\uff1b\u8868\u9762\u4e0e\u5927\u5730\u6c34\u51c6\u9762\u4e4b\u95f4\u7684\u9ad8\u5ea6\u5dee\u7684\u5e73\u65b9\u548c\u6700\u5c0f\u3002<\/p>\n

<\/p>\n

\u57fa\u51c6\u692d\u7403\u4f53Ellipsoid – \u6d77\u5e73\u9762 Geoid – \u9ad8\u7a0b<\/p>\n

\u5982\u4e0a\u56fe\u6240\u793a\uff0c\u201c\u9ad8\u7a0bh\u201d \u7684\u5b9a\u4e49\u5373\u662f\u8ddd\u79bb\u57fa\u51c6\u692d\u7403\u4f53\u7684\u9ad8\u5ea6\u3002<\/p>\n

2.2.2 ECEF\u7684\u5750\u6807\u8f6c\u6362<\/p>\n

\u81ea\u7136\u5730\uff0cECEF\u4e0b\u7684\u7ecf\u7eac\u9ad8\u5750\u6807 (lambda, phi, h) \u53ef\u4ee5\u8f6c\u6362\u4e3a\u4e09\u7ef4\u70b9\u5750\u6807 (x,y,z)<\/p>\n

x= (N+h)cos phi cdot cos lambda<\/p>\n

y= (N+h)cos phi cdot sin lambda<\/p>\n

z= (N(1-e^2)+h)sin phi<\/p>\n

\u5176\u4e2d\uff1a<\/p>\n

e \u4e3a\u5730\u7403\u692d\u7403\u7684\u504f\u5fc3\u7387\uff0c e= frac{a^2-b^2}{b^2} $\uff0c a \u4e3a\u957f\u8f74\u534a\u5f84\uff0c b \u4e3a\u77ed\u8f74\u534a\u5f84\uff1b<\/p>\n

N \u4e3a\u57fa\u51c6\u692d\u7403\u4f53\u536f\u9149\u5708\u66f2\u7387\u534a\u5f84\uff0c N= frac{a}{sqrt{1-e^2sin^2phi}}<\/p>\n

\u53cd\u8fc7\u6765\uff0c\u7531 (x,y,z)\u503c\u4e5f\u53ef\u6c42\u89e3\u7ecf\u7eac\u9ad8 (lambda, phi, h) \uff1a<\/p>\n

varphi=arctanleft[frac{z}{sqrt{x^2+y^2}}cdot frac{1}{1-frac{R_N}{R_N+h}}e^2 right]<\/p>\n

lambda = tan^{-1}(frac{y}{x})<\/p>\n

h = frac{sqrt{x^2+y^2}}{cosvarphi}-R_N<\/p>\n

\u4e0a\u9762\u7684\u5f0f\u5b50\u91cc\u9762R_N\u662f\u4f9d\u8d56 varphi \u7684\uff0c\u6240\u4ee5\u9700\u8981\u591a\u6b21\u8fed\u4ee3\u624d\u80fd\u6c42\u89e3\u3002<\/p>\n

2.3 GWS84\u5750\u6807\u7cfb\u4e0eCGCS2000\u5750\u6807\u7cfb<\/p>\n

\u8c01\u6765\u6d4b\u91cf\uff1f<\/p>\n

\u524d\u9762\u63d0\u5230\u4e86\u5730\u5fc3\u3001\u5317\u6781\u3001\u57fa\u51c6\u692d\u7403\u4f53\u7b49\u6982\u5ff5\u7684\u5b9a\u4e49\u4e0e\u6d4b\u91cf\u65b9\u6cd5\u3002\u90a3\u4e48\u95ee\u9898\u53c8\u6765\u4e86\uff1a\u8c01\u6765\u6d4b\u91cf\u8fd9\u4e9b\u6570\u636e\uff1f\u5730\u7403\u4e0a\u6709\u6ca1\u6709\u516c\u8ba4\u7684\u6807\u51c6\u7684\u6570\u636e\u5462\uff1f\u8fd8\u662f\u6bcf\u4e2a\u56fd\u5bb6\u6709\u81ea\u5df1\u72ec\u7acb\u7684\u6807\u51c6\uff1f<\/p>\n

\u7b54\u6848\u662f\uff1a\u56fd\u9645\u5730\u7403\u81ea\u8f6c\u670d\u52a1\uff08International Earth Rotation Service\uff0c\u7b80\u5199IERS\uff09\u4e0b\u7684\u56fd\u9645\u5730\u7403\u53c2\u8003\u6846\u67b6\uff08International Terrestrial Reference Frame\uff0c\u7b80\u5199ITRF\uff09\uff0c\u8fd9\u662f\u4e00\u5bb6\u4f4d\u4e8e\u5df4\u9ece\u7684\u4e13\u95e8\u4ece\u4e8b\u5730\u7403\u81ea\u8f6c\u53c2\u6570\u670d\u52a1\u548c\u53c2\u8003\u7cfb\u5efa\u7acb\u7684\u56fd\u9645\u7ec4\u7ec7\u3002 \u8be5\u7ec4\u7ec7\u4f1a\u4e0d\u5b9a\u671f\uff08\u6709\u65f6\u9694\u4e00\u5e74\uff0c\u6709\u65f6\u9694\u51e0\u5e74\uff09\u53d1\u5e03\u65b0\u7684\u5386\u5143\uff0cGNSS\u7cfb\u7edf\u57fa\u672c\u4f1a\u91c7\u7528\u8be5\u7ec4\u7ec7\u53d1\u5e03\u7684\u201c\u5386\u5143\u201d\u57fa\u51c6\u3002<\/p>\n

\u5f53\u524d\uff0cGPS\u7cfb\u7edf\u91c7\u7528\u7684\u5730\u7403\u5750\u6807\u7cfb\u7cfb\u7edf\u4e3aWGS84\uff08World Geodetic System 1984\uff09\uff0c\u800c\u4e2d\u56fd\u4e3b\u63a8\u7684\u5219\u662fCGCS2000\uff08China Geodetic Coordinate System 2000\uff09\u56fd\u5bb6\u5927\u5730\u5750\u6807\u7cfb\u3002\u5176\u533a\u522b\u5c31\u662f\u91c7\u7528\u4e86\u4e0d\u540c\u7684ITRF\u5386\u5143\uff0c\u7136\u540e\u751f\u6210\u4e86\u5bf9\u201c\u57fa\u51c6\u692d\u7403\u4f53\u201d\u4e0d\u540c\u7684\u62df\u5408\u7ed3\u679c\u3002<\/p>\n

WGS84\u548cCGCS2000\u7684\u533a\u522b<\/p>\n

WGS84\u4e00\u5f00\u59cb\u91c7\u7528\u7684\u81ea\u7136\u662f1984\u5e74\u7684\u5386\u5143\uff0c\u800c\u5f53\u524d\u5df2\u7ecf\u91c7\u7528\u8f83\u65b0\u7684ITRF2008\uff0cCGCS2000\u5219\u91c7\u7528\u7684\u662fITFR97\uff08\u5176\u81ea\u8f6c\u8f74\u3001\u8d64\u9053\u9762\u4f1a\u5b58\u5728\u5fae\u5c0f\u5dee\u5f02\uff09\u3002\u5e76\u4e14\uff0c\u4e24\u4e2a\u5750\u6807\u7cfb\u7684\u77ed\u534a\u8f74b\u7684\u957f\u5ea6\u4e0d\u540c\u3002<\/p>\n

\u8fd9\u79cd\u62df\u5408\u7684\u5dee\u5f02\u4f1a\u9020\u6210\u4e24\u79cd\u5750\u6807\u7cfb\u4e0b\u5bf9\u540c\u4e00\u70b9\u6d4b\u91cf\u4e4b\u5dee\u8fbe\u5230\u5206\u7c73\u7ea7\u3002\u8fd9\u4e00\u5dee\u5f02\u4e3b\u8981\u7531\u5386\u5143\u5dee\u5f02\u9020\u6210\uff0c\u77ed\u534a\u8f74\u7684\u5dee\u5f02\u9020\u6210\u7684\u6d4b\u91cf\u5dee\u503c\u5e76\u4e0d\u5927\uff0c\u5f53\u7136\u4e24\u4e2a\u5750\u6807\u7cfb\u95f4\u7684\u6362\u7b97\u4e5f\u5e76\u4e0d\u7b97\u590d\u6742\u3002<\/p>\n

\u4e5f\u6709\u7684\u5730\u56fe\u6807\u51c6\u4f1a\u91c7\u7528EGM96\uff08the Earth Gravitational Model from 1996\uff09\uff0c1985\u56fd\u5bb6\u9ad8\u7a0b\u6765\u8868\u793a\u9ad8\u7a0b\uff0c\u5176\u91c7\u7528\u4e86\u8fd1\u4f3c\u6d77\u62d4\u9ad8\u5ea6\uff0c\u4e0d\u518d\u5c55\u5f00\u3002<\/p>\n

\u5750\u6807\u7cfb\u57fa\u51c6\u957f\u534a\u8f74a\u57fa\u51c6\u77ed\u534a\u8f74b\u6781\u6241\u7387f\u5386\u5143WGS846378137.0m6356752.3142m1\/298.257223563ITRF2008<\/p>\n

CGCS20006378137.0m6356752.31414m1\/298.257222101ITRF97<\/p>\n

\u4e00\u822c\u800c\u8a00\uff0c\u5728\u4e2d\u56fd\u56fd\u5185\uff0cCGCS2000\u5750\u6807\u7cfb\u7531\u56fd\u5bb6\u6d4b\u7ed8\u5c40\u4e3b\u63a8\uff0c\u539f\u5219\u4e0a\u56fd\u5185\u7684\u5927\u5730\u6d4b\u7ed8\u90fd\u5e94\u5f53\u91c7\u7528\u8fd9\u5957\u7a7a\u95f4\u5750\u6807\u7cfb\u7edf\u3002<\/p>\n

2.4 \u65f6\u95f4\u5750\u6807\u7cfb\uff1a<\/p>\n

\u4e00\u822cGNSS\u90fd\u91c7\u7528\u534f\u8c03\u4e16\u754c\u65f6\uff08UTC\uff0cUniversal Time Coordinated\uff09\u3002\u4ec0\u4e48\u662f\u534f\u8c03\u4e16\u754c\u65f6\uff1f\u5148\u601d\u8003\u4e00\u4e2a\u95ee\u9898\uff1a\u65f6\u95f4\u7684\u5b9a\u4e49\u662f\u4ec0\u4e48\uff1f\u4e00\u79d2\u3001\u4e00\u4e2a\u5c0f\u65f6\u6240\u4ee3\u8868\u7684\u65f6\u95f4\u957f\u5ea6\u5982\u4f55\u5b9a\u4e49\uff1f<\/p>\n

\u4e16\u754c\u65f6<\/p>\n

\u6700\u4e3a\u53e4\u8001\u3001\u6734\u7d20\u7684\u65f6\u95f4\u6846\u67b6\u5c31\u662f\u4ee5\u5730\u7403\u81ea\u8f6c\u4e3a\u57fa\u7840\uff1a\u5730\u7403\u81ea\u8f6c\u4e00\u5468\u4e3a\u4e00\u5929\uff0c\u5728\u6b64\u57fa\u7840\u4e0a\uff0c\u62c6\u5206\u51fa24h\uff0c60min\uff0c60s\uff0c\u8be5\u65f6\u95f4\u4f53\u7cfb\u53eb\u505a \u201c\u4e16\u754c\u65f6\u201d\u3002<\/p>\n

\u539f\u5b50\u79d2<\/p>\n

\u800c\u5730\u7403\u81ea\u8f6c\u7684\u65f6\u95f4\u5374\u4e0d\u662f\u6052\u5b9a\u7684\uff0c\u5b9e\u9645\u4e0a\uff0c\u51e0\u5341\u4ebf\u5e74\u4e00\u6765\uff0c\u5730\u7403\u7684\u81ea\u8f6c\u901f\u5ea6\u4e00\u76f4\u5728\u53d8\u6162\u3002\u90a3\u5c82\u4e0d\u662f\u201c\u79d2\u201d\u7684\u5b9a\u4e49\u8d8a\u6765\u8d8a\u957f\uff1f\u540e\u6765\uff0c\u4eba\u4eec\u5b9a\u4e49\u4e86\u539f\u5b50\u65f6\uff1a\u79d2\u957f\u5b9a\u4e49\u4e3a\u94ef -133 \u539f\u5b50\u57fa\u6001\u7684\u4e24\u4e2a\u8d85\u7cbe\u7ec6\u80fd\u7ea7\u95f4\u5728\u96f6\u78c1\u573a\u4e0b\u8dc3\u8fc1\u8f90\u5c049192631770\u5468\u6240\u6301\u7eed\u7684\u65f6\u95f4 \u3002\u800c\u7531\u4e8e\u539f\u5b50\u65f6\u4e0e\u5730\u7403\u81ea\u8f6c\u65e0\u5173\uff0c\u56e0\u6b64\u9700\u8981\u95f0\u79d2\u6765\u9760\u8fd1\u4e16\u754c\u65f6\u3002<\/p>\n

\u534f\u8c03\u4e16\u754c\u65f6<\/p>\n

UTC\u662f\u4ee5\u539f\u5b50\u65f6\u79d2\u957f\u4e3a\u57fa\u7840\uff0c\u5728\u65f6\u523b\u4e0a\u5c3d\u91cf\u63a5\u8fd1\u4e8e\u4e16\u754c\u65f6\u7684\u4e00\u79cd\u65f6\u95f4\u8ba1\u91cf\u7cfb\u7edf\u3002\u4e2d\u56fd\u5927\u9646\u91c7\u7528ISO 8601-1988\u7684\u300a\u6570\u636e\u5143\u548c\u4ea4\u6362\u683c\u5f0f\u4fe1\u606f\u4ea4\u6362\u65e5\u671f\u548c\u65f6\u95f4\u8868\u793a\u6cd5\u300b\uff08GB\/T 7408-1994\uff09\u79f0\u4e4b\u4e3a\u56fd\u9645\u534f\u8c03\u65f6\u95f4\u3002<\/p>\n

GPS\u65f6<\/p>\n

GNSS\u7cfb\u7edf\u7684\u65f6\u95f4\u5750\u6807\u4e00\u822c\u57fa\u4e8eUTC\u3002\u6bd4\u5982\u7528\u4e8eGPS\u7684\u65f6\u95f4\u7cfb\u7edf\u3002GPS\u65f6\u4e0e\u534f\u8c03\u4e16\u754c\u65f6\u7684\u5dee\u522b\u5728\u4e8e\uff0c\u6240\u6709\u7d2f\u8ba1\u7684\u79d2\u6570(2008\u5e74\u76f8\u5dee14s)\u4ee5\u53ca\u4f4e\u4e8e1\u03bcs\u7684\u8bef\u5dee\u3002GPS\u65f6\u4e0e\u534f\u8c03\u4e16\u754c\u65f6\u4e4b\u5dee\u4ee5\u53ca\u8be5\u5dee\u503c\u7684\u5f53\u524d\u7279\u6027\u901a\u8fc7\u5bfc\u822a\u7535\u6587(\u5b50\u5e274\uff0c\u7b2c18\u9875)\u53d1\u9001\u3002\u6211\u4eec\u8ba4\u4e3aGPS\u7684\u65f6\u95f4\u662f\u540c\u6b65\u4e8eUTC\u7684\u3002<\/p>\n

\u63a5\u6536\u673a\u65f6\u95f4\uff0cGPS\u63a5\u6536\u673a\u7684\u5185\u90e8\u65f6\u95f4\u3002<\/p>\n

\u8be5\u65f6\u95f4\u901a\u5e38\u7531\u5185\u90e8\u7684\u77f3\u82f1\u6676\u4f53\u632f\u8361\u5668\u786e\u5b9a\uff0c\u5176\u6709\u522b\u4e8eGPS\u65f6\u548c\u534f\u8c03\u4e16\u754c\u65f6\u3002\u8be5\u5dee\u503c\u5728GPS\u63a5\u6536\u673a\u5f00\u59cb\u5de5\u4f5c\u65f6\u672a\u77e5\uff0c\u4f46\u7ecf\u8fc7\u6570\u6b21\u6d4b\u91cf\u540e\u53ef\u4ee5\u964d\u4f4e\u3002<\/p>\n

3. GNSS\u7cfb\u7edf\u5de5\u4f5c\u539f\u7406\uff1a<\/p>\n

\u4ee5GPS\u4e3a\u4f8bGNSS\u786e\u5b9a\u5750\u6807\u7684\u57fa\u7840\u60f3\u6cd5\u5f88\u7b80\u5355\uff1a\u5373\u4e09\u8fb9\u6d4b\u91cf\uff08Trilateration\uff09\u3002\u5982\u679c\u6211\u4eec\u77e5\u9053\u4e00\u4e2a\u7269\u4f53\u8ddd\u79bb\u4e09\u4e2a\u5df2\u77e5\u4f4d\u7f6e\u7684\u536b\u661f\u7684\u8ddd\u79bb\uff0c\u90a3\u4e48\u6211\u4eec\u5c31\u80fd\u8ba1\u7b97\u51fa\u8fd9\u4e2a\u7269\u4f53\u7684\u4f4d\u7f6e\u3002\u76f4\u89c2\u7684\u8bb2\uff0c\u6211\u4eec\u901a\u8fc7\u8fd9\u4e09\u4e2a\u536b\u661f\u753b\u4e09\u4e2a\u7403\uff0c\u90a3\u4e48\u8fd9\u4e09\u4e2a\u7403\u9762\u5fc5\u5b9a\u76f8\u4ea4\u4e8e\u7a7a\u95f4\u91cc\u7684\u4e00\u4e2a\u70b9\u3002<\/p>\n

Dist_i = sqrt{(x-x_i)^2+(y-y_i)^2+(z-z_i)^2}<\/p>\n

\u4e0a\u5f0f\u4e2d\uff0c (x_i,y_i,z_i) \u4e3a\u536b\u661f i \u5728\u5730\u7403\u5750\u6807\u7cfb\u4e2d\u7684\u4f4d\u7f6e\uff0c\u4e09\u4e2a\u65b9\u7a0b\u4e09\u4e2a\u672a\u77e5\u6570\uff0c\u5373\u80fd\u591f\u6c42\u51fa\u552f\u4e00\u7684\u89e3\u3002<\/p>\n

<\/p>\n

GNSS\u7684\u5b9a\u4f4d\u7684\u57fa\u7840\u60f3\u6cd5<\/p>\n

\u800c\u4e0a\u9762\u7684\u4e00\u4e2a\u524d\u63d0\u6761\u4ef6\u662f\uff1a\u536b\u661f\u548c\u63a5\u6536\u5668\u7684\u65f6\u949f\u5b8c\u5168\u540c\u6b65\uff0c\u90a3\u4e48\u5c31\u53ef\u4ee5\u7528ToF\u7684\u65b9\u6cd5\u8ba1\u7b97\u8ddd\u79bb\u3002\u4f46\u73b0\u5b9e\u4e2d\u4e0a\uff0c\u63a5\u6536\u5668\u4e0d\u53ef\u80fd\u914d\u5907\u6602\u8d35\u7684\u9ad8\u7cbe\u5ea6\u539f\u5b50\u949f\uff0c\u800c1us\u9020\u6210\u4f4d\u7f6e\u8ba1\u7b97\u8bef\u5dee\u5c31\u53ef\u8fbe300m\u3002\u56e0\u6b64\uff0c\u5728\u5b9e\u9645\u8ba1\u7b97\u4e2d\uff0cGPS\u63a5\u6536\u5668\u548c\u536b\u661f\u7684\u65f6\u95f4\u5dee Delta t_0 \u540c\u6837\u88ab\u89c6\u4f5c\u4e00\u4e2a\u672a\u77e5\u91cf\u3002\u6709\uff1a<\/p>\n

Delta t_{meas} = Delta t+Delta t_0<\/p>\n

\u800c\u6211\u4eec\u6839\u636e\u6d4b\u5f97\u7684\u65f6\u95f4\u5dee Delta t_{meas} \u8ba1\u7b97\u51fa\u6765\u5f97\u8ddd\u79bb\u5e76\u975e\u771f\u5b9e\u5f97\u8ddd\u79bb\uff0c\u6211\u4eec\u79f0\u4e4b\u201c\u4f2a\u8ddd\u201d(pseudo range, PSR)\u3002\u4f2a\u8ddd\u4e0e\u771f\u5b9e\u8ddd\u79bbR\u4e4b\u95f4\u7684\u5173\u7cfb\u662f\uff1a<\/p>\n

PSR = Delta t_{meas}cdot c = R+Delta t_0cdot c<\/p>\n

\u8ddd\u79bb\u8ba1\u7b97\u516c\u5f0f\uff1a<\/p>\n

R = sqrt{(X_{sat}-X{user})^2+(Y_{sat}-Y{user})^2+(Z_{sat}-Z{user})^2}<\/p>\n

PSR = sqrt{(X_{sat}-X{user})^2+(Y_{sat}-Y{user})^2+(Z_{sat}-Z{user})^2}+Delta t_0cdot c<\/p>\n

\u5bf9\u4e8en\u9897\u536b\u661f\u5219\u6709n\u7ec4\u65b9\u7a0b\uff1a<\/p>\n

PSR_i = sqrt{(X_{sat_i}-X{user})^2+(Y_{sat_i}-Y{user})^2+(Z_{sat_i}-Z{user})^2}+Delta t_0cdot c<\/p>\n

\u5176\u4e2d\uff0c\u5df2\u77e5\u6761\u4ef6\u4e3a PSR_i \uff0c\u536b\u661f\u7684\u4f4d\u7f6e\u6570\u636e \uff08X_{sat_i},Y_{sat_i},Z_{sat_i}) \uff0c\u5f85\u6c42\u6570\u636e\u4e3a\u63a5\u6536\u5668\u4f4d\u7f6e \uff08X_{user},Y_{user},Z_{user}) \u4ee5\u53ca\u65f6\u95f4\u5dee Delta t_0 \u56db\u4e2a\u672a\u77e5\u6570\u3002\u56e0\u6b64\uff0c\u9700\u89814\u4e2a\u4ee5\u4e0a\u7684\u536b\u661f\u6570\u636e\uff0c\u6784\u62104\u4e2a\u65b9\u7a0b\u7ec4\u624d\u80fd\u6c42\u5f97\u552f\u4e00\u89e3\u3002\u8fd9\u4e5f\u5c31\u662f\u5e73\u5e38\u6240\u8bf4\u201cGPS\u5b9a\u4f4d\u9700\u89814\u9897\u536b\u661f\u201d\u7684\u7f18\u6545\u3002<\/p>\n

\u5b9e\u9645\u8ba1\u7b97\u8fc7\u7a0b\u4e2d\u6c42\u89e3\u6790\u89e3\u8f83\u4e3a\u56f0\u96be\uff0c\u4e00\u822c\u4f1a\u91c7\u7528GN\uff0cLM\u90a3\u4e00\u5957\u975e\u7ebf\u6027\u4f18\u5316\u65b9\u6cd5\u8fdb\u884c\u8fed\u4ee3\u8ba1\u7b97\u3002\u8ba1\u7b97\u8fc7\u7a0b\u53ef\u4ee5\u53c2\u8003\u4e0b\u9762\u7684\u6587\u7ae0\uff1a<\/p>\n

GPS\u5b9a\u4f4d\u7b14\u8bb01(\u4e09\u8fb9\u6d4b\u91cf\u53ca\u591a\u8fb9\u6d4b\u91cf\uff0cDOP) – \u77e5\u4e4e (zhihu.com)<\/p>\n

4\u661f\u5b9a\u4f4d\uff0c\u89e3\u51b3\u536b\u661f\u548c\u63a5\u6536\u5668\u65f6\u95f4\u4e0d\u540c\u6b65<\/p>\n

\u5f53\u7136\uff0c\u73b0\u5b9e\u60c5\u51b5\u8981\u6bd4\u8fd9\u4e2a\u66f4\u52a0\u590d\u6742\u4e00\u4e9b\uff0c\u8981\u5f04\u660e\u767dGNSS\u536b\u661f\u7684\u539f\u7406\uff0c\u6709\u51e0\u4e2a\u5173\u952e\u95ee\u9898\u9700\u8981\u56de\u7b54\uff1a<\/p>\n

\u63a5\u6536\u673a\u5982\u4f55\u786e\u5b9a\u536b\u661f\u5728\u67d0\u4e00\u65f6\u523b t \u7684\u4e09\u7ef4\u5750\u6807\u4f4d\u7f6e\uff1f<\/p>\n

\u536b\u661f\u64ad\u62a5\u7684\u6570\u636e\u683c\u5f0f\u662f\u4ec0\u4e48\u6837\u7684\uff1f<\/p>\n

\u7136\u540e\uff0c\u5982\u4f55\u786e\u5b9a\u536b\u661f\u5230\u63a5\u6536\u5668\u4e4b\u95f4\u7684\u8ddd\u79bb\uff1f<\/p>\n

3.1 \u661f\u5386<\/p>\n

\u4e0b\u9762\u6765\u89e3\u51b3\u7b2c\u4e00\u4e2a\u95ee\u9898\uff1a\u63a5\u6536\u673a\u5982\u4f55\u786e\u5b9a\u536b\u661f\u5728\u67d0\u4e00\u65f6\u523b t \u7684\u4e09\u7ef4\u5750\u6807\u4f4d\u7f6e\uff1f<\/p>\n

\u6700\u76f4\u89c2\u7684\u60f3\u6cd5\u662f\uff1a\u536b\u661f\u5c06\u5e26\u6709\u65f6\u95f4\u6233\u7684\u5750\u6807 (x_t,y_t,z_t) \u8fde\u7eed\u4e0d\u65ad\u7684\u64ad\u62a5\u5c31\u53ef\u4ee5\u4e86\u3002\u4f46\u4e8b\u5b9e\u5e76\u975e\u5982\u6b64\uff0c\u536b\u661f\u662f\u4f9d\u9760\u64ad\u62a5\u661f\u5386\u2014\u2014\u53ef\u4ee5\u7406\u89e3\u4e3a\u536b\u661f\u5f53\u524d\u8fd0\u884c\u7684\u8f68\u9053\u53c2\u6570\uff0c\u6765\u5b9e\u73b0\u5bf9\u67d0\u4e00\u65f6\u523b\u4f4d\u7f6e\u7684\u6d4b\u91cf\u7684\u3002GPS\u536b\u661f\u7684\u661f\u5386\u6709\u4e24\u79cd\uff0c\u4e00\u79cd\u662f\u9884\u62a5\u661f\u5386\uff08\u5e7f\u64ad\u661f\u5386\uff09\uff0c\u53e6\u4e00\u79cd\u4e3a\u540e\u5904\u7406\u661f\u5386\uff08\u7cbe\u5bc6\u661f\u5386\uff09\u3002<\/p>\n

3.1.2 \u9884\u62a5\u661f\u5386\uff1a\u536b\u661f\u5b9a\u4f4d\u7684\u57fa\u7840<\/p>\n

\u6240\u8c13\u9884\u62a5\u661f\u5386\u5c31\u662f\u536b\u661f\u6301\u7eed\u64ad\u62a5\u7684\u661f\u5386\u4fe1\u606f\uff0c\u5176\u5185\u5bb9\u662f\uff1a\u5bf9\u4e8e\u67d0\u4e00\u53c2\u8003\u5386\u5143\u76846\u4e2a\u5f00\u666e\u52d2\u692d\u5706\u8f68\u9053\u53c2\u6570\u548c\u5fc5\u8981\u76849\u4e2a\u53cd\u6620\u6444\u52a8\u529b\u5f71\u54cd\u7684\u8f68\u6539\u6b63\u9879\u53c2\u6570\uff0c\u4e00\u517116\u4e2a\u661f\u5386\u53c2\u6570\u3002<\/p>\n

\u53c2\u8003\u65f6\u523b\u7684\u5347\u4ea4\u70b9\u8d64\u7ecf\u5ea6 Omega_0<\/p>\n

\u5347\u4ea4\u70b9\u8d64\u7ecf\u53d8\u7387 dot{Omega}<\/p>\n

\u53c2\u8003\u65f6\u523b\u7684\u5e73\u8fd1\u70b9\u89d2 M_{so}<\/p>\n

\u8f68\u9053\u503e\u89d2\u53d8\u7387 dot{i}<\/p>\n

\u5e73\u5747\u8fd0\u884c\u901f\u5ea6\u5dee Delta n<\/p>\n

\u5347\u4ea4\u8ddd\u89d2\u7684\u8c03\u548c\u6539\u6b63\u9879\u632f\u5e45 C_{uc},C_{us}<\/p>\n

\u8f68\u9053\u504f\u5fc3\u7387 e<\/p>\n

\u536b\u661f\u5730\u5fc3\u8ddd\u7684\u8c03\u548c\u6539\u6b63\u9879\u632f\u5e45 C_{rc},C_{rs}<\/p>\n

\u8f68\u9053\u957f\u534a\u8f74\u7684\u65b9\u6839 sqrt{a_s}<\/p>\n

\u8f68\u9053\u503e\u89d2\u7684\u8c03\u548c\u6539\u6b63\u9879\u632f\u5e45 C_{ic},C_{is}<\/p>\n

\u53c2\u8003\u65f6\u523b\u7684\u8f68\u9053\u503e\u89d2 i_0<\/p>\n

\u661f\u5386\u53c2\u6570\u7684\u53c2\u8003\u5386\u5143 t_{oe}<\/p>\n

\u8fd1\u5730\u70b9\u89d2\u8ddd omega<\/p>\n

\u661f\u5386\u6570\u636e\u7684\u9f84\u9650 AODE<\/p>\n

<\/p>\n

GPS \u536b\u661f\u8f68\u9053\u53c2\u6570\u793a\u610f\u56fe<\/p>\n

\u6211\u4eec\u53ef\u4ee5\u4e0d\u5fc5\u8981\u7406\u89e3\u6bcf\u4e00\u4e2a\u53c2\u6570\u7684\u5177\u4f53\u610f\u4e49\u662f\u4ec0\u4e48\uff0c\u4f46\u6211\u4eec\u9700\u8981\u77e5\u9053\uff1a\u201c\u8fd916\u4e2a\u661f\u5386\u53c2\u6570\uff0c\u63cf\u8ff0 or \u5b9a\u4e49\u4e86\u536b\u661f\u5728\u5f53\u524d\u4e00\u6bb5\u65f6\u95f4\u5185\u7684\u8fd0\u884c\u8f68\u9053\u201d\u3002\u5f53\u7136\uff0c\u8fd916\u4e2a\u53c2\u6570\u662f\u7531\u5730\u9762\u7ad9\u4f9d\u636e\u5bf9\u536b\u661f\u7684\u89c2\u6d4b\u7ed3\u679c\u63a8\u7b97\u51fa\u6765\uff0c\u518d\u6ce8\u5165\u5230\u536b\u661f\uff0c\u536b\u661f\u518d\u5411\u7528\u6237\u64ad\u62a5\u7684\u3002\u7136\u540e\uff0c\u63a5\u6536\u5668\u5c31\u53ef\u4ee5\u6839\u636e\u8fd916\u4e2a\u53c2\u6570\uff0c\u8ba1\u7b97\u51fa\u536b\u661f\u5728\u67d0\u4e00\u65f6\u523b\u7684\u4e09\u7ef4\u4f4d\u7f6e\u3002\u5177\u4f53\u7684\u8ba1\u7b97\u8fc7\u7a0b\u7565\u53bb\uff0c\u6709\u5174\u8da3\u7684\u53ef\u53c2\u8003\u4e0b\u6587\uff1a<\/p>\n

GPS\u5b9a\u4f4d\u7b14\u8bb04 (\u8f68\u9053\u7406\u8bba\u548c\u661f\u5386\u548c\u5386\u4e66) – \u77e5\u4e4e (zhihu.com)<\/p>\n

\u536b\u661f\u8fd0\u884c\u7684\u8f68\u9053\u5f53\u7136\u4e0d\u662f\u4e00\u6210\u4e0d\u53d8\u7684\uff0c\u5176\u672c\u8eab\u4e5f\u5904\u5728\u52a8\u6001\u7684\u53d8\u5316\u4e2d\u3002\u4e5f\u56e0\u6b64\uff0cGPS\u536b\u661f\u7684\u661f\u5386\u53c2\u6570\u6bcf\u8fc7\u4e00\u4e2a\u5c0f\u65f6\u5c31\u4f1a\u53d8\u52a8\u4e00\u6b21\uff0c\u4ee5\u8fbe\u5230\u5bf9\u8f68\u9053\u8f83\u4e3a\u7cbe\u786e\u7684\u63cf\u8ff0\u3002<\/p>\n

3.1.2 \u540e\u5904\u7406\u661f\u5386\uff1a<\/p>\n

\u901a\u8fc7\u524d\u9762\u63cf\u8ff0\uff0c\u6211\u4eec\u80fd\u591f\u60f3\u5230\uff0c\u9884\u62a5\u661f\u5386\u5c5e\u4e8e\u5bf9\u536b\u661f\u5f53\u524d\u4e00\u6bb5\u65f6\u95f4\u5185\u8fd0\u52a8\u8f68\u8ff9\u7684\u62df\u5408\uff0c\u663e\u7136\u5b83\u5e76\u975e\u536b\u661f\u6700\u4e3a\u771f\u5b9e\u51c6\u786e\u7684\u8fd0\u884c\u8f68\u8ff9\u3002<\/p>\n

\u800c\u4e3a\u4e86\u6ee1\u8db3\u5927\u5730\u6d4b\u91cf\u5b66\u548c\u5730\u7403\u52a8\u529b\u5b66\u5bf9\u9ad8\u7cbe\u5bc6\u5ea6\u5b9a\u4f4d\u7684\u8981\u6c42\uff0c\u9700\u8981\u7cbe\u786e\u5730\u523b\u753b\u67d0\u65f6\u523b\u7684\u536b\u661f\u8f68\u9053\u53c2\u6570\uff0c\u8fd9\u5373\u4e3a\u540e\u5904\u7406\u661f\u5386\u3002\u540e\u5904\u7406\u661f\u5386\u662f\u4e00\u4e9b\u56fd\u5bb6\u7684\u6709\u5173\u90e8\u95e8\u6839\u636e\u5404\u81ea\u5efa\u7acb\u7684GNSS\u536b\u661f\u8ddf\u8e2a\u7ad9\u6240\u83b7\u5f97\u7684 GPS \u536b\u661f\u7cbe\u5bc6\u89c2\u6d4b\u8d44\u6599\uff0c\u91c7\u7528\u786e\u5b9a\u9884\u62a5\u661f\u5386\u76f8\u4f3c\u7684\u65b9\u6cd5\uff0c\u8ba1\u7b97\u51fa\u4ee5\u524d\u4efb\u610f\u89c2\u6d4b\u65f6\u523b\u7684\u536b\u661f\u661f\u5386\u3002\u5b83\u662f\u4e00\u79cd\u6839\u636e\u89c2\u6d4b\u8d44\u6599\uff0c\u4e8b\u540e\u8ba1\u7b97\u7684\u65f6\u95f4\u548c\u661f\u5386\u5bf9\u5e94\u7684\u7cbe\u5bc6\u8f68\u9053\u4fe1\u606f\u5e93\u3002<\/p>\n

\u5f53\u7136\uff0c\u8fd9\u4e2a\u548c\u57fa\u4e8eGNSS\u7684\u5b9a\u4f4d\u6ca1\u4ec0\u4e48\u5173\u7cfb\u3002<\/p>\n

3.2 \u5bfc\u822a\u7535\u6587<\/p>\n

\u4e0b\u9762\u89e3\u51b3\u672c\u7ae0\u5f00\u5934\u63d0\u51fa\u7684\u7b2c\u4e8c\u4e2a\u95ee\u9898\uff1a\u536b\u661f\u64ad\u62a5\u7684\u6570\u636e\u683c\u5f0f\u662f\u4ec0\u4e48\u6837\u7684\uff1f<\/p>\n

GPS\u64ad\u62a5\u7684\u4fe1\u53f7\u5b9e\u9645\u4e0a\u5305\u542b\u4e86\u4e09\u4e2a\u90e8\u5206\uff1a\u6570\u636e\u7801\u3001\u6d4b\u8ddd\u7801\u548c\u8f7d\u6ce2\u4fe1\u53f7\u3002\u5148\u6765\u8bb2\u6570\u636e\u7801\uff0c\u6570\u636e\u7801\u5305\u542b\u4e86\u591a\u79cd\u4e0e\u5bfc\u822a\u6709\u5173\u7684\u4fe1\u606f\uff1a<\/p>\n

\u536b\u661f\u65f6\u548c\u540c\u6b65\u4fe1\u53f7<\/p>\n

\u7cbe\u786e\u8f68\u9053\u6570\u636e(\u661f\u5386)<\/p>\n

\u7528\u4e8e\u786e\u5b9a\u7cbe\u786e\u536b\u661f\u65f6\u7684\u65f6\u95f4\u4fee\u6b63\u4fe1\u606f<\/p>\n

\u6240\u6709\u536b\u661f\u7684\u8fd1\u4f3c\u8f68\u9053\u6570\u636e(\u5e74\u5386)<\/p>\n

\u7528\u4e8e\u8ba1\u7b97\u4fe1\u53f7\u53d1\u9001\u65f6\u95f4\u7684\u6821\u6b63\u4fe1\u53f7<\/p>\n

\u7535\u79bb\u5c42\u6570\u636e\u536b\u661f\u7684\u5de5\u4f5c\u72b6\u6001(\u5065\u5eb7\u72b6\u51b5)\u4fe1\u606f<\/p>\n

\u8fd9\u4e9b\u4fe1\u606f\u4e3aGPS\u5bfc\u822a\u5b9a\u4f4d\u63d0\u4f9b\u6570\u636e\u57fa\u7840\uff0c\u6545\u53c8\u79f0\u4e3a\u5bfc\u822a\u7535\u6587\u3002\u5bfc\u822a\u7535\u6587\u662f\u4e8c\u8fdb\u5236\u7f16\u7801\u6587\u4ef6\uff0c\u6309\u89c4\u5b9a\u683c\u5f0f\u7ec4\u6210\u6570\u636e\u5e27\uff0c\u6309\u5e27\u5411\u5916\u64ad\u653e\uff0c\u6bcf\u5e27\u7535\u6587\u542b\u67091500bit\uff0c\u64ad\u9001\u901f\u5ea6\u662f\u6bcf\u79d250bit\uff0c\u56e0\u6b64\u4e00\u5e27\u5bfc\u822a\u7535\u6587\u7684\u64ad\u653e\u65f6\u95f4\u662f30\u79d2\u3002\u6bcf\u5e27\u7535\u6587\u67095\u4e2a\u5b50\u5e27\uff0c\u6bcf\u4e2a\u5b50\u5e27\u542b\u670910\u4e2a\u5b57\uff0c\u6bcf\u4e2a\u5b57\u4e3a30bit\u3002<\/p>\n

<\/p>\n

\u5bfc\u822a\u7535\u6587\u7684\u7ed3\u6784<\/p>\n

\u7b2c1\u5e27\uff1a\u6709\u8be5\u536b\u661f\u7684\u65f6\u95f4\u503c\uff0c\u5305\u62ec\u7528\u4e8e\u4fee\u6b63\u4fe1\u53f7\u4f20\u8f93\u5ef6\u8fdf\u548c\u661f\u8f7d\u65f6\u949f\u65f6\u95f4\u7684\u53c2\u6570\uff0c\u4ee5\u53ca\u536b\u661f\u5065\u5eb7\u72b6\u51b5\u4fe1\u606f\u548c\u536b\u661f\u4f4d\u7f6e\u7cbe\u5ea6\u7684\u4f30\u7b97\u503c\u3002<\/p>\n

\u7b2c2\u30013\u5e27\uff1a\u5305\u542b\u4e86\u536b\u661f\u7684\u661f\u5386\u6570\u636e\u3002\u524d\u4e09\u5e27\u6570\u636e\u6bcf\u5c0f\u65f6\u66f4\u65b0\u4e00\u6b21\u3002<\/p>\n

\u7b2c4\u30015\u5b50\u5e27\uff1a\u4e2d\u5b58\u653e\u6240\u6709\u7a7a\u4e2dGPS\u536b\u661f\u7684\u5386\u4e66\uff0c\u4fe1\u606f\u91cf\u6bd4\u8f83\u5e9e\u5927\uff0c\u5b8c\u6574\u7684\u4fe1\u606f\u9700\u898125\u9875\uff0c\u4e5f\u5c31\u662f\u8bf4\u9700\u898112.5min\u624d\u80fd\u53d1\u9001\u5b8c\u6210\u5168\u90e8\u7684\u5bfc\u822a\u7535\u6587\u3002\u5b83\u7684\u5185\u5bb9\u4ec5\u5728\u5730\u9762\u6ce8\u5165\u7ad9\u6ce8\u5165\u65b0\u7684\u5bfc\u822a\u6570\u636e\u540e\u624d\u66f4\u65b0\uff0c\u73b0\u4e5f\u6709\u6280\u672f\u6839\u636e\u8bbe\u5907\u63a5\u5165\u4e92\u8054\u7f51\u7f51\u7edc\u83b7\u53d6\u9644\u8fd1\u57fa\u7ad9\u62ff\u5230\u8fc7\u7684\u6240\u6709\u536b\u661f\u5386\u4e66\u3002<\/p>\n

\u9065\u6d4b\u5b57 TeLemetry Word\uff1a\u6bcf\u4e2a\u5355\u5e27\u7684\u9996\u5b57\u662f\u9065\u6d4b\u5b57(TLM)\uff0c\u5176\u5305\u542b\u6355\u83b7\u4fe1\u606f\u7684\u524d\u5bfc\uff0c\u9065\u6d4b\u7535\u6587\uff08\u5730\u9762\u76d1\u63a7\u7cfb\u7edf\u6ce8\u5165\u6570\u636e\u7684\u72b6\u6001\u4fe1\u606f\u3001\u8bca\u65ad\u4fe1\u606f\u548c\u5176\u4ed6\uff09\uff0c\u6307\u793a\u7528\u6237\u662f\u5426\u9009\u7528\u8be5\u536b\u661f\u3002<\/p>\n

\u8f6c\u6362\u5b57 How-hand Over Word\uff1a\u63d0\u4f9b\u7528\u4e8e\u6355\u83b7 P \u7801\u7684 Z \u8ba1\u6570\uff08\u4ece\u6bcf\u5468\u516d-\u5468\u65e5\u5b50\u591c\u96f6\u65f6\u8d77\u7b97\u7684\u65f6\u95f4\u8ba1\u6570\uff09\uff0c\u53ef\u4ee5\u5b9e\u65f6\u4e86\u89e3\u89c2\u6d4b\u77ac\u65f6\u5728 P \u7801\u5468\u671f\u4e2d\u6240\u5904\u7684\u51c6\u786e\u4f4d\u7f6e\uff0c\u9884\u5148\u786e\u5b9a\u7801\u7684\u79fb\u52a8\u91cf\uff0c\u4f7f\u672c\u673a\u4ea7\u751f\u7684\u4f2a\u968f\u673a\u7801\u7684\u7801\u5143\u4e0e\u5373\u5c06\u5230\u6765\u7684\u536b\u661f\u4fe1\u53f7P\u7801\u7801\u5143\u76f8\u5339\u914d\u3002<\/p>\n

3.3 \u536b\u661f\u4fe1\u53f7<\/p>\n

\u90a3\u4e48\u6570\u636e\u7801\u662f\u5982\u4f55\u88ab\u536b\u661f\u53d1\u9001\u51fa\u6765\u7684\uff1f\u8fd9\u91cc\u4f1a\u63d0\u5230\u6d4b\u8ddd\u7801\u548c\u8f7d\u6ce2\u4fe1\u53f7\u3002<\/p>\n

<\/p>\n

GPS \u536b\u661f\u4fe1\u53f7\u793a\u610f\u56fe<\/p>\n

GPS\u536b\u661f\u4e0a\u7684\u539f\u5b50\u949f\u7684\u5171\u632f\u9891\u7387\u4f1a\u4ea7\u751f\u4ee5\u4e0b\u5de5\u4f5c\u6240\u9700\u7684\u65f6\u95f4\u8109\u51b2\u4fe1\u53f7\uff1a<\/p>\n

50Hz\u7684\u6570\u636e\u8109\u51b2\uff08\u5bf9\u5e94\u524d\u9762\u768450Bit\/s\u7684\u5bfc\u822a\u7535\u6587\uff09\uff1b<\/p>\n

C\/A\u7801\uff0cP\u7801\uff08\u9891\u73871.023MHz\u7684\u4f2a\u968f\u673aPRN\u7801\uff09\uff0c\u8be5\u7801\u91c7\u7528\u5f02\u6216\u64cd\u4f5c\u8c03\u5236\u6570\u636e\u5e762MHz\u5e26\u5bbd\u53d1\u9001\u6570\u636e<\/p>\n

L1\uff0cL2\u4e24\u79cd\u8f7d\u6ce2\u9891\u7387<\/p>\n

GPS\u536b\u661f\u4fe1\u53f7\u91c7\u7528\u4e86\u7ec4\u5408\u7801\u8c03\u5236\u6280\u672f\uff0c\u5373\u5c06\u7f16\u7801\u8109\u51b2\uff08\u5373\u5bfc\u822a\u7535\u6587\u6216\u8005\u57fa\u5e26\u4fe1\u53f7\uff09\u5148\u8c03\u5236\u5230\u4f2a\u968f\u673a\u7801\uff0c\u5373\u7ecf\u8fc7\u4f2a\u968f\u673a\u7801\u6269\u9891\u6210\u4e3a\u7ec4\u5408\u7801\uff0c\u518d\u5bf9 L \u6ce2\u6bb5\uff081-2GHz\u7684\u7535\u78c1\u6ce2\uff09\u8fdb\u884c\u8c03\u5236\uff0c\u7136\u540e\u7531 GPS \u536b\u661f\u5929\u7ebf\u53d1\u5c04\u51fa\u53bb\u3002\u536b\u661f\u4f7f\u7528\u4e24\u4e2a\u8f7d\u6ce2\u9891\u7387\u53d1\u5c04\uff0c\u662f\u4e3a\u4e86\u5bf9\u5927\u6c14\u5c42\u6548\u5e94\u4ea7\u751f\u7684\u9644\u52a0\u5ef6\u65f6\u8fdb\u884c\u53cc\u9891\u77eb\u6b63\u3002<\/p>\n

<\/p>\n

GPS \u53d1\u5c04\u4fe1\u53f7\u6784\u6210\u539f\u7406\u56fe<\/p>\n

3.4 \u5750\u6807\u8ba1\u7b97\u65b9\u5f0f<\/p>\n

\u6700\u540e\u5206\u6790\u672c\u7ae0\u5f00\u5934\u7684\u7b2c\u4e09\u4e2a\u95ee\u9898\uff1a\u5982\u4f55\u786e\u5b9a\u536b\u661f\u5230\u63a5\u6536\u5668\u4e4b\u95f4\u7684\u8ddd\u79bb\uff1f\u9996\u5148\u9700\u8981\u83b7\u5f97\u63a5\u6536\u5668\u5230\u536b\u661f\u4e4b\u95f4\u7684\u4f2a\u8dddPSD\uff0c\u800c\u4f2a\u8ddd\u7684\u6d4b\u91cf\u6709\u56db\u79cd\u65b9\u6cd5\uff1a<\/p>\n

\u6d4b\u7801\u4f2a\u8ddd\u89c2\u6d4b\u91cf\uff08\u5e38\u7528\uff09<\/p>\n

\u6d4b\u91cf GPS \u536b\u661f\u53d1\u5c04\u7684\u6d4b\u8ddd\u7801\u4fe1\u53f7\u5230\u8fbe\u7528\u6237\u63a5\u6536\u673a\u5929\u7ebf\u7684\u7535\u6ce2\u4f20\u64ad\u65f6\u95f4\u3002\u56e0\u6b64\u8fd9\u79cd\u89c2\u6d4b\u65b9\u6cd5\u4e5f\u79f0\u4e3a\u65f6\u95f4\u5ef6\u8fdf\u6d4b\u91cf\u3002<\/p>\n

\u6d4b\u76f8\u4f2a\u8ddd\u89c2\u6d4b\u91cf\uff08\u5e38\u7528\uff09<\/p>\n

\u536b\u661f\u8f7d\u6ce2\u4fe1\u53f7\u7531\u53d1\u5c04\u5230\u88ab\u63a5\u6536\uff0c\u5176\u95f4\u8f7d\u6ce2\u4fe1\u53f7\u4f20\u64ad\u7684\u76f8\u4f4d\u79f0\u4e3a\u8f7d\u6ce2\u76f8\u4f4d\u89c2\u6d4b\u91cf\u3002\u7531\u4e8e\u8f7d\u6ce2\u9891\u7387\u9ad8\u3001\u6ce2\u957f\u77ed\uff0c\u6240\u4ee5\u8f7d\u6ce2\u76f8\u4f4d\u6d4b\u91cf\u7cbe\u5ea6\u9ad8\u3002<\/p>\n

\u5f00\u666e\u52d2\u79ef\u5206\u8ba1\u6570\u4f2a\u8ddd\u5dee<\/p>\n

\u536b\u661f\u76f8\u5bf9\u4e8e\u5730\u9762\u7684 GPS \u63a5\u6536\u673a\u5b58\u5728\u7740\u76f8\u5bf9\u8fd0\u52a8\uff0c\u56e0\u6b64\u63a5\u6536\u5230\u7684\u4fe1\u53f7\u4e2d\u5b58\u5728\u7740\u591a\u666e\u52d2\u9891\u79fb\u3002\u5229\u7528\u591a\u666e\u52d2\u9891\u79fb\u6d4b\u5f97\u76f8\u5bf9\u8ddd\u79bb\u3002\u591a\u666e\u52d2\u79ef\u5206\u8ba1\u6570\u6cd5\u9759\u6001\u5b9a\u4f4d\u9700\u8981\u6570\u5c0f\u65f6\u7684\u89c2\u6d4b\u65f6\u95f4\uff0c\u4e00\u822c\u5e94\u7528\u4e8e\u5927\u5730\u6d4b\u91cf\u4e4b\u4e2d\uff0c\u5728\u52a8\u6001\u5e94\u7528\u4e2d\u591a\u666e\u52d2\u6d4b\u91cf\uff0c\u53ef\u7528\u6765\u8ba1\u7b97\u6d4b\u7ad9\u7684\u8fd0\u52a8\u901f\u5ea6\u3002<\/p>\n

\u5e72\u6d89\u6cd5\u6d4b\u91cf\u65f6\u95f4\u5ef6\u8fdf<\/p>\n

\u6240\u9700\u7684\u8bbe\u5907\u76f8\u5f53\u6602\u8d35\uff0c\u6570\u636e\u5904\u7406\u5341\u5206\u590d\u6742\uff0c\u5f85\u8fdb\u4e00\u6b65\u7684\u7814\u7a76\u5f00\u53d1\u3002<\/p>\n

\u6d4b\u7801\u4f2a\u8ddd\u6d4b\u91cf<\/p>\n

\u6240\u8c13\u6d4b\u7801\uff0c\u5373\u63a5\u6536\u673a\u6355\u83b7\u5e76\u5bf9\u9f50\u6d4b\u8ddd\u7801\u4e4b\u540e\uff0c\u5373\u53ef\u5bf9\u536b\u661f\u7684\u5bfc\u822a\u7535\u6587\u8fdb\u884c\u89e3\u6790\uff0c\u83b7\u53d6\u5b50\u5e27\u4e2d\u7684\u65f6\u95f4\u6233\u3002\u4ee5C\/A\u7801\u4e3a\u4f8b\uff0c\u6839\u636e\u5b57\u8282\uff08\u4e00\u4e2a\u5b57\u82820.6s\uff09\u3001\u4f4d\uff08\u4e00\u4e2a\u4f4d20ms\uff0c\u517120\u4e2aC\/A\u5468\u671f\uff09\u3001C\/A\u7801\uff08\u5468\u671f1ms\uff0c\u51711023\u7801\u5143\uff09\u3001\u7801\u5143\u4f4d\u7f6e\uff08\u4e00\u4e2a\u7801\u5143\u7ea61\u5fae\u79d2\uff09\u7684\u987a\u5e8f\u786e\u5b9a\u63a5\u6536\u7801\u5143\u7684\u65f6\u95f4\u3002\u4f8b\u5982<\/p>\n

\u5047\u5982\u5b50\u5e27\u65f6\u95f4\u6233\u4e3aT0\uff0c\u5219\u8be5\u5b50\u5e27\u7b2c\u56db\u5b57\u8282\u7b2c\u4e8c\u4f4d\u7b2c\u4e8cC\/A\u7801\u5468\u671f\u7b2c2\u4e2a\u7801\u5143\u7684\u53d1\u5c04\u53d1\u5c04\u65f6\u95f4\u4e3aT0+3*0.6+1*0.02+1*0.001+0.000001s\u3002\u6d4b\u7801\u4f2a\u8ddd\u6d4b\u91cf\u7684\u539f\u7406\u5b9e\u8d28\u662f\u6d4b\u91cf\u63a5\u6536\u4fe1\u53f7\uff08\u7801\u5143\uff09\u5728\u4f20\u64ad\u4e2d\u7684\u4f4d\u7f6e\u3002<\/p>\n

\u7cbe\u5ea6\u7801\uff1aC\/A\u7801\u4e0eP\u7801<\/p>\n

\u800cGPS\u7684\u7cbe\u5ea6\u7ea7\u522b\u5206\u4e3a\u4e24\u79cd\uff1a<\/p>\n

SPS\uff08Standard Position System \u6807\u51c6\u5b9a\u4f4d\u7cfb\u7edf\uff09\uff1a\u4f7f\u7528C\/A\u7801\uff0c\u5176\u9891\u7387\u4e3a1.023MHz\uff0c\u4e5f\u5c31\u662f\u4e00\u4e2a\u7801\u7684\u957f\u5ea6\u662f977.5ns\uff0c\u5bf9\u5e94\u7684\u6ce2\u957f\u662f293m\uff0c\u4e00\u822c\u60c5\u51b5\u4e0b\u6c34\u5e73\u65b9\u5411\u7684\u7cbe\u5ea6\u80fd\u8fbe\u523030m\u5de6\u53f3\u3002\u5e94\u7528\u4e8e\u6700\u5e38\u89c1\u7684\u6c11\u7528\u7cfb\u7edf\u3002<\/p>\n

PPS\uff08Precis Position System \u7cbe\u5bc6\u5b9a\u4f4d\u7cfb\u7edf\uff09\uff1a\u8fc7\u53bb\u53ea\u63d0\u4f9b\u7ed9\u519b\u4e8b\u6216\u56fd\u5bb6\u4f7f\u7528\uff0c\u4f7f\u7528 P \u7801\uff0c\u5176\u6ce2\u957f\u4e3a29.3m\uff0c\u5176\u7cbe\u5ea6\u4f1a\u8fbe\u5230\u7c73\u7ea7\u3002<\/p>\n

\u5f53\u7136\uff0c\u6d4b\u7801\u4f2a\u8ddd\u6d4b\u91cf\u65b9\u6cd5\u7684\u7cbe\u5ea6\u90fd\u4e0d\u662f\u5f88\u9ad8\uff0c\u4f46\u80dc\u5728\u539f\u7406\u7b80\u5355\uff0c\u901f\u5ea6\u5feb\u3002\u56e0\u6b64\u5176\u662f\u5f53\u524dGPS\u63a5\u6536\u8bbe\u5907\u7684\u4e3b\u6d41\u4f2a\u8ddd\u6d4b\u91cf\u65b9\u6848\u3002<\/p>\n

\u8f7d\u6ce2\u76f8\u4f4d\u6d4b\u91cf<\/p>\n

\u662f\u4f9d\u9760\u8f7d\u6ce2\u7684\u76f8\u4f4d\u6d4b\u91cf\uff0c\u8fdb\u884c\u4f2a\u8ddd\u7684\u8ba1\u7b97\u3002\u8f7d\u6ce2\u901f\u7387\u662f1575.42MHz\uff0c\u5176\u5bf9\u5e94\u7684\u6ce2\u957f\u4e3a19cm\u3002\u663e\u7136\u5176\u4f2a\u8ddd\u6d4b\u91cf\u7684\u5206\u8fa8\u7387\u8981\u8fdc\u9ad8\u4e8e\u6d4b\u7801\u3002\u5176\u539f\u7406\u662f\uff1a\u5047\u8bbe\u536b\u661f\u67d0\u4e00\u65f6\u523b\u7684\u8f7d\u6ce2\u76f8\u4f4d\u4e3a varphi_0 \uff0c\u7ecf\u8fc7\u8ddd\u79bb R \u4e4b\u540e\u5230\u8fbe\u63a5\u6536\u673a\u65f6\u76f8\u4f4d\u4e3a varphi_1 \uff0c\u5219\u8f7d\u6ce2\u7ecf\u5386\u7684\u76f8\u4f4d\u53d8\u5316\u4e3a (varphi_1-varphi_0) \uff0c\u5305\u542b\u4e86\u6574\u5468\u6570\u4e3a n_0 \u4ee5\u53ca\u4e0d\u8db3\u4e00\u5468\u7684\u5c0f\u6570\u90e8\u5206 Delta varphi \u3002\u5176\u4f2a\u8ddd\u516c\u5f0f\u53ef\u8868\u793a\u4e3a\uff1a<\/p>\n

PSR= lambda(n_0-Delta varphi)<\/p>\n

\u663e\u7136\uff0c\u901a\u8fc7Forier\u53d8\u6362\uff0c\u63a5\u6536\u673a\u53ef\u5bb9\u6613\u5f97\u5230\u5c0f\u6570\u90e8\u5206 Delta varphi \uff0c\u4f46\u6574\u5468\u90e8\u5206 n_0 \u5374\u65e0\u6cd5\u786e\u5b9a\uff0c\u56e0\u6b64\u6211\u4eec\u79f0\u5176\u4e3a\u201c\u6574\u5468\u6a21\u7cca\u6570\u201d\u3002\u5982\u4f55\u786e\u5b9a\u6574\u5468\u6a21\u7cca\u6570\uff0c\u662f\u4e00\u4e2a\u590d\u6742\u800c\u8270\u5de8\u7684\u95ee\u9898\uff0c\u6211\u5199\u4e0d\u4e0b\u53bb\u4e86\u3002\u53ef\u4ee5\u641c\u7d22\u5173\u952e\u5b57\uff1aFara\u641c\u7d22\u6cd5\uff0cP\u7801\u53cc\u9891\u6cd5\u3002<\/p>\n

<\/p>\n

\u8f7d\u6ce2\u76f8\u4f4d\u6d4b\u91cf<\/p>\n

3.5 GNSS\u7684\u8bef\u5dee\u5206\u6790<\/p>\n

\u5b9e\u9645\u8fc7\u7a0b\u4e2d\uff0cGNSS\u5b9a\u4f4d\u4f1a\u53d7\u5230\u591a\u79cd\u8bef\u5dee\u56e0\u7d20\u7684\u5f71\u54cd\uff0c\u5305\u62ec\uff1a<\/p>\n

\u536b\u661f\u661f\u5386\u8bef\u5dee<\/p>\n

\u536b\u661f\u5728\u592a\u7a7a\u4e2d\u8fd0\u884c\u53d7\u5230\u5176\u4ed6\u5929\u4f53\u7684\u6444\u52a8\u529b\u5f71\u54cd\uff0c\u5730\u9762\u76d1\u6d4b\u7ad9\u96be\u4ee5\u5145\u5206\u53ef\u9760\u6d4b\u5b9a\u8fd9\u4e9b\u6444\u52a8\u529b\u7684\u5f71\u54cd\uff0c\u4f7f\u5f97\u6d4b\u5b9a\u7684\u536b\u661f\u8f68\u9053\uff08\u661f\u5386\uff09\u4f1a\u6709\u8bef\u5dee\u3002\u540c\u65f6\uff0c\u68c0\u6d4b\u7cfb\u7edf\uff0c\u63a5\u6536\u7cfb\u7edf\u4e5f\u4f1a\u5f15\u5165\u8bef\u5dee\u3002\u5bfc\u81f4\u5176\u771f\u5b9e\u7684\u4f4d\u7f6e\u53ea\u80fd\u505a\u52301\uff5e5m\u7684\u7cbe\u5ea6\u3002<\/p>\n

\u536b\u661f\u65f6\u949f\u8bef\u5dee<\/p>\n

\u536b\u661f\u4e0a\u4f7f\u7528\u4e86\u9ad8\u7cbe\u5ea6\u539f\u5b50\u949f\uff0c\u4f46\u7531\u4e8e\u8fd9\u4e9b\u949f\u4e0eGPS\u6807\u51c6\u65f6\u4e4b\u95f4\u4f1a\u5b58\u5728\u7740\u968f\u65f6\u95f4\u53d8\u5316\u7684\u9891\u504f\u9891\u98d8\uff0c\u5bfc\u81f4\u661f\u949f\u548cGPS\u6807\u51c6\u65f6\u4e0d\u540c\u6b65\u3002\u53ef\u901a\u8fc7\u63a5\u6536\u673a\u5bf9\u661f\u949f\u8bef\u5dee\u8fdb\u884c\u4e8c\u9879\u5f0f\u62df\u5408\u6c42\u89e3\u6765\u6d88\u9664\u3002<\/p>\n

\u7535\u79bb\u5c42\u8bef\u5dee Ionosphere Error<\/p>\n

60km-200km\u7684\u5927\u6c14\u5c42\u90e8\u5206\u88ab\u79f0\u4e3a\u7535\u79bb\u5c42\uff0c\u7535\u79bb\u5c42\u6298\u5c04\u7387\u4e0e\u5927\u6c14\u7535\u5b50\u5bc6\u5ea6\u6210\u6b63\u6bd4\uff0c\u548c\u7a7f\u8fc7\u7684\u7535\u78c1\u6ce2\u9891\u7387\u5e73\u65b9\u6210\u53cd\u6bd4\uff0c\u5bf9\u4e8e\u9891\u7387\u786e\u5b9a\u7684\u7535\u78c1\u6ce2\u800c\u8a00\uff0c\u7535\u79bb\u5c42\u6298\u5c04\u7387\u53d6\u51b3\u4e8e\u7535\u5b50\u5bc6\u5ea6\u3002\u7535\u79bb\u5c42\u7684\u7535\u5b50\u5bc6\u5ea6\u968f\u592a\u9633\u53ca\u5176\u4ed6\u5929\u4f53\u7684\u8f90\u5c04\u5f3a\u5ea6\uff0c\u5b63\u8282\uff0c\u65f6\u95f4\uff0c\u4ee5\u53ca\u5730\u7406\u4f4d\u7f6e\u7b49\u56e0\u7d20\u7684\u53d8\u5316\u800c\u53d8\u5316\u3002<\/p>\n

\u800c\u4fe1\u53f7\u4ee5\u5149\u901f\u4ece\u536b\u661f\u51fa\u53d1\u3002\u5176\u5728\u7a7f\u8d8a\u7535\u79bb\u5c42\u548c\u5bf9\u6d41\u5c42\u65f6\u4f1a\u51cf\u6162\u3002\u8fd9\u79cd\u4e0d\u786e\u5b9a\u7684\u504f\u5dee\u4f1a\u7ed9\u8ba1\u7b97\u4f4d\u7f6e\u5e26\u6765\u8bef\u5dee\u3002<\/p>\n

\u901a\u8fc7\u5927\u6c14\u5efa\u7acb\u8865\u507f\u6a21\u578b\u7684\u65b9\u6cd5\uff0c\u53ef\u4ee5\u51cf\u5c11\u5176\u5f71\u54cd\u3002<\/p>\n

\u5bf9\u6d41\u5c42\u8bef\u5dee Tropospheric delay error<\/p>\n

\u8ddd\u79bb\u5730\u976260km\u4ee5\u5185\u7684\u975e\u7535\u79bb\u5c42\uff1a\u5305\u542b\u5e73\u6d41\u5c42\u3001\u5bf9\u6d41\u5c42\u3002\u5176\u4ec5\u6709\u5c11\u91cf\u7684\u5e26\u7535\u7c92\u5b50\uff0c\u603b\u4f53\u5448\u73b0\u7535\u4e2d\u6027\u3002\u56e0\u6b64\u5bf9\u7535\u78c1\u6ce2\u7684\u4f20\u64ad\u51e0\u4e4e\u6ca1\u6709\u5f71\u54cd\u3002\u5176\u5bf9\u9891\u7387\u4f4e\u4e8e30GHz\u7684\u7535\u78c1\u6ce2\u53ef\u8ba4\u4e3a\u662f\u975e\u5f25\u6563\u6027\u4ecb\u8d28\uff0c\u5373\u7535\u78c1\u6ce2\u5728\u5176\u4e2d\u7684\u4f20\u64ad\u901f\u5ea6\u4e0e\u9891\u7387\u65e0\u5173\u3002<\/p>\n

\u5bf9\u6d41\u5c42\u7684\u6298\u5c04\u4e0e\u5730\u9762\u6c14\u5019\u3001\u5927\u6c14\u538b\u529b\u3001\u6e29\u5ea6\u53ca\u6e7f\u5ea6\u7b49\u53d8\u5316\u5bc6\u5207\u76f8\u5173\uff0c\u8fd9\u4e5f\u4f7f\u5f97\u5bf9\u6d41\u5c42\u6298\u5c04\u6bd4\u7535\u79bb\u5c42\u6298\u5c04\u66f4\u4e3a\u590d\u6742\u3002<\/p>\n

\u5bf9\u6d41\u5c42\u6298\u5c04\u8bef\u5dee\u4e3b\u8981\u53cd\u6620\u5728\u5bfc\u822a\u536b\u661f\u4fe1\u53f7\u7a7f\u8fc7\u5bf9\u6d41\u5c42\u65f6\uff0c\u4f20\u64ad\u8def\u5f84\u53d1\u751f\u5f2f\u66f2\uff0c\u4ece\u800c\u4f7f\u6d4b\u91cf\u8ddd\u79bb\u4ea7\u751f\u504f\u5dee\u3002\u5bf9\u6d41\u5c42\u6298\u5c04\u4e0e\u536b\u661f\u4ef0\u89d2\u6709\u5173\uff0c\u968f\u7740\u4ef0\u89d2\u7684\u964d\u4f4e\uff0cGPS\u4fe1\u53f7\u7a7f\u8d8a\u5bf9\u6d41\u5c42\u5927\u6c14\u7684\u8def\u5f84\u957f\u5ea6\u589e\u52a0\uff0c\u5ef6\u8fdf\u9010\u6e10\u589e\u5927\u3002\u6807\u51c6\u5927\u6c14\u6761\u4ef6\u4e0b\uff0c\u5728\u4e2d\u7eac\u5ea6\u53c2\u8003\u6d77\u5e73\u9762\u4e0a\u3002\u5929\u9876\u65b9\u5411(\u4ef0\u89d20\u3002)\u7684\u5bf9\u6d41\u5c42\u5ef6\u8fdf\u5f15\u5165\u7684\u8ddd\u79bb\u8bef\u5dee\u7ea6\u4e3a2\uff0e3m\uff0c\u800c\u5728\u8fd1\u5730\u9762\u65b9\u5411(\u4ef0\u89d25\u3002)\u65f6\uff0c\u5bf9\u6d41\u5c42\u5ef6\u8fdf\u53ef\u8fbe25m\u3002<\/p>\n

\u51cf\u5f31\u5bf9\u6d41\u5c42\u6298\u5c04\u5f71\u54cd\u7684\u4e3b\u8981\u63aa\u65bd\u6709\uff1a\u4e00\u662f\u91c7\u7528\u5bf9\u6d41\u5c42\u6a21\u578b\u52a0\u4ee5\u6539\u6b63\uff0c\u5176\u6c14\u8c61\u53c2\u6570\u5728\u6d4b\u7ad9\u53ef\u76f4\u63a5\u6d4b\u5b9a\uff1b\u4e8c\u662f\u5f15\u5165\u63cf\u8ff0\u5bf9\u6d41\u5c42\u5f71\u54cd\u7684\u9644\u52a0\u5f85\u4f30\u53c2\u6570\uff1b\u4e09\u662f\u5229\u7528\u540c\u6b65\u89c2\u6d4b\u6c42\u5dee\u6cd5\u3002<\/p>\n

<\/p>\n

\u5927\u6c14\u4f20\u64ad\u8bef\u5dee\uff1a\u5305\u62ec\u7535\u79bb\u5c42\u3001\u5bf9\u6d41\u5c42<\/p>\n

\u591a\u5f84\u6548\u5e94<\/p>\n

\u591a\u5f84\u6548\u5e94\u6307\u7684\u662f\uff1aGNSS\u4fe1\u53f7\u4f1a\u53d7\u5230\u5efa\u7b51\u3001\u5c71\u4f53\u3001\u6811\u6728\u7b49\u53cd\u5c04\uff0c\u56e0\u800c\u63a5\u6536\u673a\u53ef\u80fd\u4f1a\u63a5\u6536\u5230\u8fd9\u4e9b\u7ecf\u8fc7\u4e00\u6b21\u751a\u81f3\u591a\u6b21\u53cd\u5c04\u540e\u7684\u536b\u661f\u4fe1\u53f7\uff0c\u4ece\u800c\u4ea7\u751f\u6d4b\u91cf\u8bef\u5dee\u3002\u53cd\u5c04\u6ce2\u7684\u4fe1\u53f7\u5f3a\u5ea6\u4e00\u822c\u4e5f\u4f1a\u51cf\u5c0f\u3002<\/p>\n

\u591a\u5f84\u8bef\u5dee\u53d6\u51b3\u4e8e\u53cd\u5c04\u7269\u8ddd\u79bb\u63a5\u6536\u673a\u7684\u8ddd\u79bb\u548c\u53cd\u5c04\u7cfb\u6570\uff0c\u4ee5\u53ca\u536b\u661f\u4fe1\u53f7\u7684\u65b9\u5411\u7b49\u6761\u4ef6\u56e0\u7d20\uff0c\u65e0\u6cd5\u5efa\u7acb\u8d77\u51c6\u786e\u7684\u8bef\u5dee\u6a21\u578b\uff0c\u53ea\u80fd\u901a\u8fc7\u6539\u5584\u63a5\u6536\u5929\u7ebf\uff0c\u6216\u5ef6\u957f\u89c2\u6d4b\u65f6\u95f4\u7684\u65b9\u5f0f\u6291\u5236\u3002<\/p>\n

<\/p>\n

\u591a\u5f84\u53cd\u5c04\u5bf9\u5b9a\u4f4d\u5f71\u54cd<\/p>\n

\u63a5\u6536\u673a\u566a\u58f0<\/p>\n

\u63a5\u6536\u673a\u5b58\u5728\u63a5\u6536\u566a\u58f0\u4ee5\u53ca\u65f6\u95f4\u5ef6\u8fdf\uff0c\u53ea\u80fd\u4ee5\u6709\u9650\u7684\u7cbe\u5ea6\u786e\u5b9a\u8f93\u5165\u7684\u536b\u661f\u4fe1\u53f7\u65f6\u95f4\u3002\u5f53\u7136\uff0c\u201c\u949e\u80fd\u529b\u201d\u53ef\u4ee5\u6291\u5236\u8fd9\u4e00\u95ee\u9898\u3002<\/p>\n

\u536b\u661f\u51e0\u4f55\u5f62\u6001\uff1a\u5982\u679c\u7528\u4e8e\u6d4b\u91cf\u76844\u9897\u53c2\u8003\u536b\u661f\u8f83\u4e3a\u63a5\u8fd1\uff0c\u786e\u5b9a\u4f4d\u7f6e\u4f1a\u8f83\u4e3a\u56f0\u96be\u3002<\/p>\n

<\/p>\n

\u536b\u661f\u8ddd\u79bb\u8d8a\u8fdc\uff0c\u4f2a\u8ddd\u6d4b\u91cf\u8d8a\u7cbe\u786e<\/p>\n

\u53cc\u9891GPS\u6280\u672f<\/p>\n

\u7efc\u5408\u4ee5\u4e0a\u56e0\u7d20\uff0c\u6574\u7406\u5404\u8981\u7d20\u5bf9GNSS\u5b9a\u4f4d\u7cbe\u5ea6\u7684\u5f71\u54cd\u5982\u4e0b\uff1a<\/p>\n

<\/p>\n

\u8bef\u5dee\u56e0\u7d20\u5bf9\u5b9a\u4f4d\u9020\u6210\u7684\u5f71\u54cd<\/p>\n

\u53ef\u770b\u51fa\uff0c\u7535\u79bb\u5c42\u5bf9\u6d4b\u91cf\u8bef\u5dee\u7684\u5f71\u54cd\u6700\u5927\u3002\u5176\u4e2d\uff0c\u4f4e\u9891\u4fe1\u53f7\u53d7\u51cf\u7f13\u5f71\u54cd\u66f4\u4e3a\u4e25\u91cd\u3002\u56e0\u6b64\uff0c\u901a\u8fc7\u4f7f\u7528\u4e24\u79cd\u4e0d\u540c\u7684\u4fe1\u53f7\u9891\u7387\uff083.3\u4e2d\u63d0\u5230\u7684L1\u548cL2\u4e24\u79cd\u8f7d\u6ce2\u9891\u7387\uff09\uff0c\u53ef\u5728\u5f88\u5927\u7a0b\u5ea6\u4e0a\u8865\u507f\u7535\u79bb\u5c42\u7684\u5f71\u54cd\uff0c\u8fd9\u4e5f\u5c31\u662f\u201c\u53cc\u9891GPS\u201d\u3002<\/p>\n

\u7b80\u800c\u8a00\u4e4b\uff0c\u8bef\u5dee\u548c\u9891\u7387\u6709\u4e00\u5b9a\u7684\u5bf9\u5e94\u5173\u7cfb\uff0c\u8bb2\u4e24\u4e2a\u9891\u7387\u4e0b\u7684\u5dee\u548c\u6d4b\u5f97\u4f2a\u8ddd\u7684\u5dee\u505a\u5bf9\u6bd4\uff0c\u5c31\u53ef\u4ee5\u5f88\u5927\u7a0b\u5ea6\u4e0a\u6d88\u9664\u7535\u79bb\u5c42\u7684\u5f71\u54cd\u3002\u76ee\u524d\uff0c\u6700\u597d\u7684\u53cc\u9891GPS\u80fd\u5230\u4e0d\u9519\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u5982U-Blox 9\u4ee3\u82af\u7247\uff0c\u5373\u4f7f\u4e0d\u7528\u5dee\u5206\uff0c\u5e73\u9762\u7cbe\u5ea6\u5df2\u7ecf\u57282m\u4ee5\u5185\u3002<\/p>\n

4. GNSS\u5b9a\u4f4d\u589e\u5f3a\u6280\u672f<\/p>\n

2022.04.29\u4fee\u6539\u5185\u5bb9\uff1a\u5bf9PPP\uff0cRTK\uff0cNRTK\uff0cPPP-RTK\u7ed3\u5408\u7684\u5b9a\u4f4d\u65b9\u5f0f\u8fdb\u884c\u8c03\u7814\u9610\u8ff0<\/p>\n

\u4ece\u524d\u9762\u53ef\u77e5\u5f53\u7136\uff0cGNSS\u7684\u6781\u9650\u5b9a\u4f4d\u7cbe\u5ea6\u4e5f\u5c31\u662f\u7c73\u7ea7\u7684\u6c34\u51c6\u3002\u5bf9\u4e8e\u81ea\u52a8\u9a7e\u9a76\u800c\u8a00\uff0c\u9700\u8981\u5206\u7c73\/\u751a\u81f3\u5398\u7c73\u7ea7\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u624d\u80fd\u6ee1\u8db3\u8f66\u9053\u7ea7\u5bfc\u822a\u7684\u9700\u6c42\u3002\u56e0\u6b64\uff0c\u6709\u6ca1\u6709\u65b9\u6cd5\u80fd\u8fdb\u4e00\u6b65\u63d0\u5347GNSS\u7684\u7cbe\u5ea6\uff1f\u6709\u4e24\u79cd\u65b9\u6cd5\uff0c\u5206\u522b\u662f\u7cbe\u5bc6\u5355\u70b9\u5b9a\u4f4d\uff08Precise Point Positioning\uff0cPPP\uff09\u548c\u5b9e\u65f6\u52a8\u6001\u5b9a\u4f4d\uff08Real-Time Kinematic\uff0cRTK\uff09\uff0c\u4ee5\u53ca\u878d\u5408\u4e24\u8005\u7684PPP-RTK\u3002<\/p>\n

<\/p>\n

\u5404\u79cd\u5b9a\u4f4d\u65b9\u5f0f\u7684\u7cbe\u5ea6\u4e0e\u8303\u56f4<\/p>\n

4.1 \u7cbe\u5bc6\u5355\u70b9\u5b9a\u4f4dPPP<\/p>\n

4.1.1 \u7cbe\u5bc6\u5355\u70b9\u5b9a\u4f4dPPP<\/p>\n

PPP\u7531\u975e\u5dee\u5b9a\u4f4d\u6280\u672f\u53d1\u5c55\u800c\u6765\uff0c\u662f\u4e00\u79cd\u5168\u7403\u5c3a\u5ea6\u7684\u5b9a\u4f4d\u6280\u672f\uff0cPPP\u662f\u901a\u8fc7\u5168\u7403\u5206\u5e03\u7684\u7ea6100\u4e2a\u57fa\u51c6\u7ad9\uff0c\u89e3\u7b97\u9ad8\u7cbe\u5ea6\u7684\u536b\u661f\u661f\u5386\uff0c\u4fee\u6b63\u7528\u6237\u8f68\u9053\u3001\u949f\u5dee\u8bef\u5dee\u7b49\uff0c\u5373\u53ef\u83b7\u5f97\u9759\u6001\u6beb\u7c73\u81f3\u5398\u7c73\u7ea7\uff0c\u52a8\u6001\u5398\u7c73\u81f3\u5206\u7c73\u7ea7\u7684\u5b9a\u4f4d\u670d\u52a1\u3002<\/p>\n

PPP\u4f18\u70b9\u5728\u4e8e\u5728\u5168\u7403\u4efb\u4f55\u4f4d\u7f6e\uff0c\u7a7a\u57fa\u536b\u661f\u4f7f\u5f97\u63a5\u6536\u8005\u80fd\u83b7\u5f97\u5747\u4e00\u7684\u5b9a\u4f4d\u589e\u5f3a\u6548\u679c\u3002\u7136\u800c\uff0c\u5355\u7eaf\u7684PPP\u6700\u5927\u7684\u7f3a\u9677\u662f\u5176\u9700\u8981\u63a5\u8fd130\u5206\u949f\u624d\u80fd\u5b8c\u6210\u7cbe\u5bc6\u5b9a\u4f4d\u7684\u521d\u59cb\u5316\uff0c\u5e76\u4e14\uff0c\u4fe1\u53f7\u4e22\u5931\u540e\u7684\u91cd\u65b0\u521d\u59cb\u5316\u65f6\u95f4\u51e0\u4e4e\u548c\u9996\u6b21\u521d\u59cb\u5316\u4e00\u6837\u4e45\uff0c\u6f2b\u957f\u7684\u6536\u655b\u65f6\u95f4\u9650\u5236\u4e86\u5176\u666e\u53ca\u3002<\/p>\n

<\/p>\n

PPP\u539f\u7406\u793a\u610f\u56fe<\/p>\n

<\/p>\n

\u5929\u5b9dRTX\u5168\u7403\u53c2\u8003\u7ad9\u5168\u7403\u5206\u5e03<\/p>\n

4.2 \u5b9e\u65f6\u52a8\u6001\u5b9a\u4f4dRTK<\/p>\n

4.2.1 RTK\u539f\u7406<\/p>\n

RTK\u662f\u7531\u5dee\u5206\u5b9a\u4f4d\u6280\u672f\uff08Differential GNSS\uff09\u53d1\u5c55\u800c\u6765\u3002\u5176\u7b80\u8981\u539f\u7406\u662f\uff1a\u5bf9\u4e8e\u76f8\u8ddd\u4e0d\u8fdc\u7684GNSS\u63a5\u6536\u7ad9\u800c\u8a00\uff0c\u5176\u53d7\u5230\u7684\u536b\u661f\u8f68\u9053\u8bef\u5dee\u3001\u536b\u661f\u949f\u5dee\u3001\u7535\u79bb\u5c42\u5ef6\u8fdf\u3001\u5bf9\u6d41\u5c42\u5ef6\u8fdf\u7b49\u8bef\u5dee\u662f\u63a5\u8fd1\u7684\uff0c\u56e0\u6b64\u53ef\u4ee5\u901a\u8fc7\u7ad9\u95f4\u89c2\u6d4b\u503c\u5dee\u5206\u6d88\u9664\uff0c\u8fdb\u800c\u5b9e\u73b0\u77ac\u65f6\u7684\u5398\u7c73\u7ea7\u5b9a\u4f4d\u3002<\/p>\n

\u5177\u4f53\u7684\u505a\u6cd5\u662f\u5c06\u4e00\u53f0\u63a5\u6536\u673a\u5b89\u7f6e\u5728\u57fa\u51c6\u7ad9\u4e0a\u8fdb\u884c\u89c2\u6d4b\u3002\u57fa\u51c6\u7ad9\u5df2\u77e5\u81ea\u8eab\u7684\u7cbe\u5bc6\u5750\u6807\uff0c\u901a\u8fc7GNSS\u8ba1\u7b97\u51fa\u7684\u4fe1\u53f7\u662f\u5e26\u6709\u8bef\u5dee\u7684\u4fe1\u53f7\u3002\u6839\u636e\u7cbe\u5bc6\u5750\u6807\u548c\u6d4b\u91cf\u4fe1\u53f7\uff0c\u5373\u53ef\u8ba1\u7b97\u4e00\u4e2a\u8ddd\u79bb\u4fee\u6b63\u503c\uff0c\u5e76\u7531\u57fa\u51c6\u7ad9\u5b9e\u65f6\u5730\u5c06\u8fd9\u4e00\u6570\u636e\u5e7f\u64ad\u51fa\u53bb\u3002\u7528\u6237\u7684\u63a5\u6536\u673a\u63a5\u6536\u5230\u4e86GNSS\u4fe1\u53f7\u7684\u540c\u65f6\uff0c\u4e5f\u63a5\u6536\u5230\u4e86\u7531\u57fa\u51c6\u7ad9\u4f20\u6765\u7684\u4fee\u6b63\u4fe1\u53f7\uff0c\u5373\u53ef\u5bf9\u63d0\u5347\u5b9a\u4f4d\u7ed3\u679c\uff0c\u5176\u7406\u8bba\u7cbe\u5ea6\u53ef\u4ee5\u8fbe\u52301cm+1ppm\uff08RMS\uff09\u3002<\/p>\n

RTK\u539f\u7406\u793a\u610f\u56fe<\/p>\n

\u5e76\u4e14\uff0cRTK\u7684\u53e6\u4e00\u4e2a\u5929\u7136\u4f18\u52bf\u662f\uff1a\u80fd\u591f\u5f88\u5feb\u7684\u5b9e\u73b0\u4f4d\u7f6e\u6d4b\u91cf\u6536\u655b\u3002\u5f53\u7136\uff0c\u63a5\u6536\u673a\u8ddd\u79bb\u57fa\u51c6\u7ad9\u8d8a\u8fdc\uff0c\u5176\u5b9a\u4f4d\u7cbe\u5ea6\u4e5f\u5c31\u8d8a\u5dee\u3002<\/p>\n

4.2.2 RTK\u57fa\u51c6\u7ad9\u7684\u5f62\u5f0f<\/p>\n

\u5e7f\u64ad\u5dee\u5206\u4fe1\u53f7\u7684\u53c2\u8003\u57fa\u51c6\u7ad9\u53ef\u4ee5\u6709\u591a\u79cd\u5e03\u7f6e\u5f62\u5f0f\uff0c\u7b80\u800c\u8a00\u4e4b\uff1a\u53ef\u4ee5\u5206\u4e3a\u79fb\u52a8\u57fa\u51c6\u7ad9\uff0c\u56fa\u5b9a\u57fa\u51c6\u7ad9\u3002<\/p>\n

\u79fb\u52a8\u7684\u57fa\u51c6\u7ad9<\/p>\n

\u79fb\u52a8\u57fa\u51c6\u7ad9\u2014\u2014\u63a7\u5236\u70b9<\/p>\n

RTK\u5e38\u7528\u7684\u57fa\u51c6\u7ad9\u662f\u7c7b\u4f3c\u4e0a\u56fe\u8fd9\u79cd\u53ef\u4ee5\u79fb\u52a8\u7684\u57fa\u7ad9\u3002\u5728\u4f5c\u4e1a\u65f6\u5019\uff0c\u9700\u8981\u5728\u5f85\u6d4b\u7ed8\u7684\u5730\u533a\u63d0\u524d\u5e03\u7f6e\u8c03\u8bd5\u57fa\u51c6\u7ad9\uff0c\u4e4b\u540e\u518d\u5728\u76f8\u5e94\u7684\u533a\u57df\u5185\u8fdb\u884c\u4f5c\u4e1a\u3002\u5177\u4f53\u5230\u9ad8\u7cbe\u5730\u56fe\u5916\u4e1a\u91c7\u96c6\u573a\u666f\uff0c\u5219\u81f3\u5c11\u9700\u8981\u4e24\u91cf\u4f5c\u4e1a\u8f66\u8f86\u3002\u524d\u4e00\u8f86\u8f66\u5728\u89c4\u5212\u7684\u8def\u5f84\u4e0a\u5b89\u88c5\u57fa\u51c6\u7ad9\uff0c\u4e3a\u540e\u4e00\u8f86\u9ad8\u7cbe\u5730\u56fe\u91c7\u96c6\u8f66\u63d0\u4f9b\u7cbe\u51c6\u7684\u5b9a\u4f4d\u3002<\/p>\n

\u8fd9\u79cdRTK\u4f5c\u4e1a\u65b9\u5f0f\u9700\u8981\u4e24\u5957\u8bbe\u5907+\u4e24\u62e8\u4eba\u9a6c\uff0c\u4e14\u9700\u8981\u67b6\u8bbe\u57fa\u7ad9\u540e\u9700\u8981\u534a\u5c0f\u65f6\u7684\u7b49\u5f85\u65f6\u95f4\uff0c\u76f8\u5bf9\u4e0d\u591f\u9ad8\u6548\u7075\u6d3b\u3002<\/p>\n

\u8fde\u7eed\u8fd0\u884c\u53c2\u8003\u7ad9 CROS \u4e0e\u7f51\u7edcRTK\uff08NRTK\uff09<\/p>\n

\u4e0e\u5e38\u89c4RTK\u9700\u8981\u67b6\u8bbe\u79fb\u52a8\u57fa\u7ad9\u4e0d\u540c\uff0c\u53e6\u4e00\u79cd\u5b9e\u73b0RTK\u65b9\u5f0f\u662f\u7ec4\u5efa\u8fde\u7eed\u8fd0\u884c\u53c2\u8003\u7ad9\u7f51\u7edc\uff08CORS\uff0cContinuously Operating Reference Stations\uff09\u3002\u6240\u8c13\u7684CROS\u662f\uff1a<\/p>\n

\u4e00\u4e2a\u6216\u82e5\u5e72\u4e2a\u56fa\u5b9a\u7684\u3001\u8fde\u7eed\u8fd0\u884c\u7684GNSS\u53c2\u8003\u7ad9\uff0c\u5229\u7528\u6570\u636e\u901a\u4fe1\u548c\u4e92\u8054\u7f51(LAN\uff0fWAN)\u6280\u672f\u7ec4\u6210\u7684\u7f51\u7edc\uff0c\u5b9e\u65f6\u5730\u5411\u7528\u6237\u81ea\u52a8\u5730\u63d0\u4f9b\u7ecf\u8fc7\u68c0\u9a8c\u7684\u4e0d\u540c\u7c7b\u578b\u7684GNSS\u89c2\u6d4b\u503c(\u8f7d\u6ce2\u76f8\u4f4d\uff0c\u4f2a\u8ddd)\uff0c\u5404\u79cd\u6539\u6b63\u6570\u3001\u72b6\u6001\u4fe1\u606f\uff0c\u4ee5\u53ca\u5176\u4ed6\u6709\u5173GNSS\u670d\u52a1\u9879\u76ee\u7684\u7cfb\u7edf\u3002<\/p>\n

<\/p>\n

CROS\u57fa\u7ad9<\/p>\n

\u8fd9\u79cd\u4f7f\u7528\u56fa\u5b9a\u57fa\u7ad9\u7684RTK\u6280\u672f\u4e5f\u53eb\u201c\u7f51\u7edcRTK\uff08NRTK\uff09\u201d\u3002\u5bf9\u4e8e\u7f51\u7edcRTK\uff0c\u7528\u6237\u53ef\u4ee5\u5229\u7528\u591a\u4e2a\u56fa\u5b9a\u57fa\u7ad9\u8fdb\u884c\u4fe1\u53f7\u5dee\u5206\uff0c\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u7684\u5b9a\u4f4d\u3002\u663e\u7136\uff0c\u4f7f\u7528CROS\u53ef\u4ee5\u5f88\u5927\u7a0b\u5ea6\u63d0\u9ad8\u4f5c\u4e1a\u7684\u7075\u6d3b\u6027\uff0c\u4f46CROS\u4f5c\u4e3a\u4e00\u79cd\u57fa\u7840\u8bbe\u65bd\u5fc5\u987b\u8981\u6709\u4eba\u5efa\u7acb\u5e76\u7ef4\u62a4\uff0c\u4e14\u5c31\u50cf\u624b\u673a\u4fe1\u53f7\u5854\u4e00\u6837\uff0c\u5176\u8986\u76d6\u5ea6\u9700\u8981\u6bd4\u8f83\u9ad8\u3002<\/p>\n

\u4ee3\u8868\u6027\u7684CROS\u670d\u52a1\u5546\u662f\u5343\u5bfb\u4f4d\u7f6e\uff0c\u5176\u662f\u7531\u4e2d\u56fd\u5175\u5de5\u548c\u963f\u91cc\u5df4\u5df4\u57282015\u5e74\u5408\u8d44\u6210\u7acb\u7684\u3002\u7531\u4e2d\u56fd\u5175\u5de5\u63d0\u4f9b\u4e86\u5168\u56fd\u8d85\u8fc72000\u591a\u4e2a\u7cbe\u786e\u4f4d\u7f6e\u7684\u57fa\u7ad9\uff0c\u963f\u91cc\u5df4\u5df4\u5219\u8d1f\u8d23\u7814\u53d1\u5b9a\u4f4d\u7b97\u6cd5\uff0c\u5411\u7528\u6237\u51fa\u552e\u5dee\u5206\u5b9a\u4f4d\u670d\u52a1\u3002\u540c\u6837\u7684\uff0c\u56db\u7ef4\u56fe\u65b0\u65d7\u4e0b\u7684\u516d\u5206\u79d1\u6280\uff0c\u4ee5\u53ca\u5982\u4e2d\u56fd\u79fb\u52a8\u7b49\u62e5\u6709\u5927\u89c4\u6a21\u57fa\u7ad9\u7684\u4f01\u4e1a\u4e5f\u90fd\u6709CROS\u670d\u52a1\uff08\u5b9a\u4f4d\u57fa\u7ad9\u6d89\u53ca\u56fd\u5bb6\u673a\u5bc6\u5730\u7406\u6570\u636e\uff0c\u4e0a\u8ff0CROS\u4f9b\u5e94\u5546\u57fa\u672c\u90fd\u6709\u5b98\u65b9\u80cc\u666f\uff09\u3002\u817e\u8baf\u57282022\u5e74\u4e5f\u63a8\u51fa\u4e86\u81ea\u5df1\u7684CROS\u57fa\u7ad9\u670d\u52a1\u3002<\/p>\n

4.2.3 \u4e09\u79cd\u4fe1\u53f7\u5dee\u5206\u7684\u65b9\u5f0f<\/p>\n

\u7528\u6237\u5730\u63a5\u6536\u673a\u5728\u8fdb\u884cGPS\u89c2\u6d4b\u7684\u540c\u65f6\uff0c\u4e5f\u63a5\u6536\u5230\u57fa\u51c6\u7ad9\u53d1\u51fa\u7684\u6539\u6b63\u6570\uff0c\u5e76\u5bf9\u5176\u5b9a\u4f4d\u7ed3\u679c\u8fdb\u884c\u5dee\u5206\u6821\u6b63\uff0c\u4ece\u800c\u63d0\u9ad8\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u5dee\u5206\u65b9\u5f0f\u53ef\u5206\u4e3a\u4e09\u7c7b\uff1a\u4f4d\u7f6e\u5dee\u5206\u3001\u4f2a\u8ddd\u5dee\u5206\u548c\u8f7d\u6ce2\u76f8\u4f4d\u5dee\u5206\u3002<\/p>\n

\u4e00\u822c\u800c\u8a00\uff0c\u4ee5\u5750\u6807\u65b9\u5f0f\u5dee\u5206\u53ef\u8fbe\u00b15m \u7684\u7cbe\u5ea6\uff0c\u4ee5\u4f2a\u8ddd\u65b9\u5f0f\u53ef\u8fbe\u00b1\uff081\uff5e3\uff09m\u7ea7\u7cbe\u5ea6\uff0c\u800c\u4ee5\u8f7d\u6ce2\u76f8\u4f4d\u65b9\u5f0f\u53ef\u8fbe\u00b1\uff081\uff5e3\uff09cm\u7684\u7cbe\u5ea6\uff0c\u9ad8\u7a0b\u7cbe\u5ea6\u5927\u7ea6\u4e3a\u5e73\u9762\u7cbe\u5ea6\u76842\uff5e3\u500d\u3002<\/p>\n

\u4f4d\u7f6e\u5dee\u5206\uff1a<\/p>\n

\u8fd9\u662f\u6700\u7b80\u5355\u7684\u5dee\u5206\u65b9\u6cd5\u3002\u7b80\u800c\u8a00\u4e4b\uff0c\u57fa\u51c6\u7ad9\u63a5\u6536GNSS\u4fe1\u53f7\u540e\u89e3\u7b97\u51fa\u7684\u5750\u6807\uff0c\u4e0e\u57fa\u51c6\u7ad9\u7684\u5df2\u77e5\u5750\u6807\u4e4b\u95f4\u5b58\u5728\u8bef\u5dee\uff0c\u8bb0\u4e3a (Delta X,Delta Y,Delta Z) \u3002<\/p>\n

\u57fa\u51c6\u7ad9\u5c06\u6b64\u4f4d\u7f6e\u4fee\u6b63\u6570\u64ad\u9001\u51fa\u53bb\uff0c\u7531\u7528\u6237\u7ad9\u63a5\u6536\u540e\uff0c\u76f4\u63a5\u52a0\u5728\u7528\u6237\u63a5\u6536\u673a\u89e3\u7b97\u540e\u7684\u5750\u6807\u4e0a\u5373\u53ef\u3002\u8fd9\u79cd\u65b9\u5f0f\u9002\u7528\u4e8e\u57fa\u51c6\u7ad9\u548c\u7528\u6237\u7ad9\u89c2\u6d4b\u540c\u4e00\u7ec4\u536b\u661f\u7684\u60c5\u51b5\uff0c\u7528\u6237\u4e0e\u57fa\u51c6\u7ad9\u95f4\u7684\u8ddd\u79bb\u9700\u5728100km\u4ee5\u5185\u3002<\/p>\n

<\/p>\n

\u4f4d\u7f6e\u5dee\u5206\uff1a\u6700\u7b80\u5355\u7684\u5dee\u5206\u539f\u7406<\/p>\n

\u4f2a\u8ddd\u5dee\u5206\uff1a<\/p>\n

\u4f2a\u8ddd\u5dee\u5206\u662f\u5e94\u7528\u8f83\u5e7f\u7684\u4e00\u79cd\u5dee\u5206\u3002\u57fa\u51c6\u7ad9\u89c2\u6d4b\u536b\u661f\uff0c\u6839\u636e\u57fa\u51c6\u7ad9\u5df2\u77e5\u5750\u6807\u548c\u5404\u536b\u661f\u7684\u5750\u6807\uff0c\u6c42\u51fa\u6bcf\u9897\u536b\u661f\u6bcf\u4e00\u65f6\u523b\u5230\u57fa\u51c6\u7ad9\u7684\u771f\u5b9e\u8ddd\u79bb [R_i] \u3002\u518d\u4e0e\u6d4b\u5f97\u7684\u4f2a\u8ddd [PSR_i] \u6bd4\u8f83\uff0c\u5f97\u51fa\u4f2a\u8ddd\u7684\u6539\u6b63\u6570 [PSR_{error i}] \uff0c\u5c06\u5176\u5e7f\u64ad\u81f3\u7528\u6237\u63a5\u6536\u673a\u3002\u8be5\u79cd\u5dee\u5206\u65b9\u5f0f\u53ef\u5f97\u5230\u7c73\u7ea7\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/p>\n

\u4e0e\u4f4d\u7f6e\u5dee\u5206\u76f8\u4f3c\uff0c\u4f2a\u8ddd\u5dee\u5206\u80fd\u5c06\u57fa\u7ad9\u548c\u7528\u6237\u63a5\u6536\u673a\u5171\u6709\u7684\u8bef\u5dee\u62b5\u6d88\uff0c\u4f46\u968f\u7740\u7528\u6237\u5230\u57fa\u51c6\u7ad9\u8ddd\u79bb\u7684\u589e\u52a0\uff0c\u53c8\u4f1a\u51fa\u73b0\u65b0\u7684\u7cfb\u7edf\u8bef\u5dee\uff0c\u8fd9\u79cd\u8bef\u5dee\u7528\u4efb\u4f55\u5dee\u5206\u6cd5\u90fd\u662f\u4e0d\u80fd\u6d88\u9664\u7684\u3002\u7528\u6237\u548c\u57fa\u51c6\u7ad9\u4e4b\u95f4\u7684\u8ddd\u79bb\u5bf9\u7cbe\u5ea6\u6709\u51b3\u5b9a\u6027\u5f71\u54cd\u3002<\/p>\n

\u8f7d\u6ce2\u76f8\u4f4d\u5dee\u5206\u539f\u7406<\/p>\n

RTK (Real Time Kinematic)\u6280\u672f\u57fa\u4e8e\u7684\u5dee\u5206\u539f\u7406\u5373\u4e3a\u8f7d\u6ce2\u76f8\u4f4d\u5dee\u5206\u3002 (\u6ce8\u610f\uff0c\u4e0d\u662f\u6240\u6709\u7684\u5dee\u5206GNSS\u90fd\u53ef\u4ee5\u88ab\u79f0\u4e3aRTK)\u3002\u5176\u539f\u7406\u662f\u5c06\u57fa\u51c6\u7ad9\u91c7\u96c6\u7684\u8f7d\u6ce2\u76f8\u4f4d\u53d1\u7ed9\u7528\u6237\u63a5\u6536\u673a\uff0c\u8fdb\u884c\u6c42\u5dee\u89e3\u7b97\u5750\u6807\uff0c\u8f7d\u6ce2\u76f8\u4f4d\u5dee\u5206\u53ef\u4f7f\u5b9a\u4f4d\u7cbe\u5ea6\u8fbe\u5230\u5398\u7c73\u7ea7\u3002\u57fa\u51c6\u7ad9\u901a\u8fc7\u7f51\u7edc\u5b9e\u65f6\u5c06\u5176\u8f7d\u6ce2\u89c2\u6d4b\u91cf\u53ca\u7ad9\u5750\u6807\u4fe1\u606f\u4e00\u540c\u4f20\u9001\u7ed9\u7528\u6237\u7ad9\u3002\u7528\u6237\u7ad9\u63a5\u6536GPS\u536b\u661f\u7684\u8f7d\u6ce2\u76f8\u4f4d\u4e0e\u6765\u81ea\u57fa\u51c6\u7ad9\u7684\u8f7d\u6ce2\u76f8\u4f4d\uff0c\u5e76\u7ec4\u6210\u76f8\u4f4d\u5dee\u5206\u89c2\u6d4b\u503c\u8fdb\u884c\u5b9e\u65f6\u5904\u7406\uff0c\u80fd\u5b9e\u65f6\u7ed9\u51fa\u5398\u7c73\u7ea7\u7684\u5b9a\u4f4d\u7ed3\u679c\u3002<\/p>\n

\u5dee\u5206<\/p>\n

\u5b9a\u4f4d\u539f\u7406\uff1a\u536b\u661f\uff0c\u57fa\u51c6\u7ad9\uff0c\u63a5\u6536\u8005<\/p>\n

4.3 \u8f7d\u6ce2\u76f8\u4f4d\u5dee\u5206\u6280\u672f\u539f\u7406\uff08\u8fd9\u91cc\u7b14\u8005\u6ca1\u641e\u61c2\uff0c\u653e\u5f03\u4e86\uff09<\/p>\n

\u7528\u6237\u63a5\u6536\u673a i \u548c\u57fa\u51c6\u7ad9\u63a5\u6536\u673a j \u3002\u540c\u65f6\u8ddf\u8e2a\u4e00\u9897\u7f16\u53f7\u4e3a i \u7684\u536b\u661f\uff0c\u5219\u8f7d\u6ce2\u76f8\u4f4d\u89c2\u6d4b\u65b9\u7a0b\u53ef\u4ee5\u8868\u793a\u4e3a\uff1a<\/p>\n

<\/p>\n

\u7531\u4e24\u4e2a\u6574\u6570\u76f8\u51cf\u5f97\u5230\u7684\u5355\u5dee\u6574\u5468\u6a21\u7cca\u5ea6\u4ecd\u662f\u4e00\u4e2a\u6574\u6570\uff0c\u800c\u4e00\u65e6\u7684\u503c\u88ab\u6b63\u786e\u6c42\u89e3\u51fa\u6765\uff0c\u90a3\u4e48\u5355\u5dee\u8f7d\u6ce2\u76f8\u4f4d\u5c31\u6210\u4e3a\u65e2\u6ca1\u6709\u6a21\u7cca\u5ea6\u53c8\u5177\u6709\u9ad8\u7cbe\u5ea6\u7684\u5355\u5dee\u8ddd\u79bb\u6d4b\u91cf\u503c\u3002<\/p>\n

\u89c2\u6d4b\u7ad9A\u3001B\u5bf9\u536b\u661f j \u7684\u89c2\u6d4b\u503c\u5206\u522b\u4e3a\uff1a<\/p>\n

rho_A = f_1(X_A,Y_A,Z_A,delta_{t_A},delta_{t_j},Delta_{trop}^A,Delta_{ion}^A,N_A)<\/p>\n

rho_B = f_1(X_B,Y_B,Z_B,delta_{t_B},delta_{t_j},Delta_{trop}^B,Delta_{ion}^B,N_B)<\/p>\n

\u6839\u636e\u53c2\u4e0e\u5dee\u5206\u7684\u57fa\u51c6\u7ad9\u7684\u6570\u91cf\uff0c\u5dee\u5206\u65b9\u5f0f\u53ef\u4ee5\u5206\u4e3a\uff1a<\/p>\n

\u5355\u5dee\uff1a\u4e0d\u540c\u89c2\u6d4b\u7ad9\u540c\u6b65\u89c2\u6d4b\u76f8\u540c\u536b\u661f\u6240\u5f97\u89c2\u6d4b\u91cf\u4e4b\u5dee\u3002\u6d88\u9664\u4e86\u536b\u661f\u949f\u5dee\uff0c\u57fa\u672c\u6d88\u9664\u4e86\u7535\u6d41\u5c42\u3001\u5bf9\u6d41\u5c42\u5ef6\u8fdf\u8bef\u5dee\u3002<\/p>\n

deltarho = f_2(Delta X,Delta Y,Delta Z,d_{AB},0,rightarrow,0,rightarrow,0,Delta N)<\/p>\n

\u53cc\u5dee\uff1a\u4e0d\u540c\u89c2\u6d4b\u7ad9\u540c\u6b65\u89c2\u6d4b\u4e00\u7ec4\u536b\u661f\u6240\u5f97\u89c2\u6d4b\u91cf\u7684\u5355\u5dee\u4e4b\u5dee\u3002\u6d88\u9664\u4e86\u661f\u5386\u8bef\u5dee\uff0c\u8fdb\u4e00\u6b65\u6d88\u9664\u4e86\u7535\u6d41\u5c42\u3001\u5bf9\u6d41\u5c42\u5ef6\u8fdf\u8bef\u5dee\u3002<\/p>\n

deltarho = f_3(Delta X,Delta Y,Delta Z,0,0,rightarrow,0,rightarrow,0,delta N)<\/p>\n

\u4e09\u5dee\uff1a\u4e0d\u540c\u89c2\u6d4b\u7ad9\u540c\u6b65\u89c2\u6d4b\u540c\u4e00\u7ec4\u536b\u661f\u6240\u5f97\u89c2\u6d4b\u91cf\u7684\u53cc\u5dee\u4e4b\u5dee\u3002\u6d88\u9664\u4e86\u6574\u5468\u6a21\u7cca\u5ea6\u3001\u7535\u6d41\u5c42\u3001\u5bf9\u6d41\u5c42\u5ef6\u8fdf\u8bef\u5dee\u3002<\/p>\n

deltarho = f_4(Delta X,Delta Y,Delta Z,0,0,0,0,0)<\/p>\n

\u663e\u7136\uff0c\u591a\u4e2a\u57fa\u51c6\u7ad9\u7684\u5dee\u5206\u8981\u4f18\u4e8e\u5355\u57fa\u51c6\u7ad9\u5dee\u5206\u3002<\/p>\n

4.4 PPP-RTK\u6280\u672f<\/p>\n

4.1\u8282\u63d0\u5230\uff0cPPP\u6f2b\u957f\u7684\u6536\u655b\u65f6\u95f4\u9650\u5236\u4e86\u5176\u5e94\u7528\u573a\u666f\u3002\u4e0d\u8fc7\uff0c\u901a\u8fc7\u8fd1\u4e9b\u5e74\u6765\u7684\u7814\u7a76\uff0c\u57fa\u4e8ePPP\u89e3\u51b3\u65b9\u6848\u53d6\u5f97\u957f\u8db3\u8fdb\u6b65\u3002\u5176\u539f\u7406\u8f83\u4e3a\u590d\u6742\uff0c\u516c\u5f00\u7684\u6280\u672f\u7ec6\u8282\u4e5f\u4e0d\u591a\uff0c\u7b14\u8005\u4e5f\u57fa\u672c\u770b\u4e0d\u61c2\uff0c\u56e0\u6b64\u53ea\u7ed9\u51fa\u7ed3\u8bba\u3002\u5927\u8d8b\u52bf\u662fPPP\u4e0eRTK\u5728\u7b97\u6cd5\u5c42\u9762\u7684\u7edf\u4e00\uff0c\u6216\u8bb8\u53ef\u4ee5\u7406\u89e3\u4e3a\u4e00\u79cd\u7a7a\u57fa\u57fa\u51c6\u7ad9\u7684RTK\u3002<\/p>\n

<\/p>\n

PPP-RTK\u7684\u5408\u6d41<\/p>\n

\u77ac\u65f6\u5398\u7c73\u7ea7\u7684\u5b9a\u4f4d\u662fRTK\u4e3b\u8981\u4f18\u52bf\uff0c\u5168\u7403\u4f4e\u6210\u672c\u662fPPP\u7684\u4e3b\u8981\u4f18\u52bf\u3002PPP-RTK\u4ece\u7b97\u6cd5\u5c42\u9762\u7edf\u4e00\u4e86RTK\u4e0ePPP\uff0c\u5728\u5b9e\u9645\u5e94\u7528\u4e2d\u4e5f\u540c\u65f6\u5177\u5907\u4e24\u8005\u4f18\u52bf\u3002\u4f8b\u5982\uff0c\u67d0PPP-RTK\u7cfb\u7edf\u5728\u5e73\u9762\u6536\u655b\u81f35\u5398\u7c73\u548c2\u5398\u7c73\u5206\u522b\u9700\u89810.5\u5206\u949f\u548c2.5\u5206\u949f\uff0c\u9ad8\u7a0b\u6536\u655b\u81f310\u5398\u7c73\u548c5\u5398\u7c73\u5206\u522b\u9700\u89812\u5206\u949f\u548c3.5\u5206\u949f\uff0c\u8fd9\u5927\u5927\u4f18\u4e8ePPP\u7684\u6536\u655b\u901f\u5ea6\u3002RTK\u3001PPP\u3001PPP-RTK\u7684\u6536\u655b\u901f\u5ea6\u3001\u5b9a\u4f4d\u7cbe\u5ea6\u3001\u8986\u76d6\u8303\u56f4\u4e09\u4e2a\u7ef4\u5ea6\u7684\u5bf9\u6bd4\u5982\u4e0b\u56fe\uff0c\u53ef\u89c1PPP-RTK\u5177\u6709\u8f83\u9ad8\u7684\u201c\u4f38\u7f29\u6027\u201d\u3002<\/p>\n

<\/p>\n

RTK\u3001PPP\u4e0ePPP-RTK\u5bfc\u822a\u4e0e\u4f4d\u7f6e\u670d\u52a1\u6a21\u5f0f\u5bf9\u6bd4<\/p>\n

\u5f53\u524d\uff0c\u4e0d\u5c11\u5546\u4e1a\u516c\u53f8\u90fd\u5f00\u59cb\u63d0\u4f9bPPP-RTK\u670d\u52a1\uff0c\u4f8b\u5982Trimble\u516c\u53f8\u7684CenterPoint RTX\u3001NovAtel\u516c\u53f8\u7684TerraStar-X\u3001Fugro\u516c\u53f8\u7684Marinestar G4+\u4ee5\u53caGEO++\u516c\u53f8\u7684SSRPOST\u7b49\u3002\u5728\u56fd\u5185\uff0cPPP\u4f5c\u4e3a\u5317\u6597\u7cfb\u7edf\u89c4\u5212\u516c\u5f00\u670d\u52a1\u7c7b\u578b\u4e4b\u4e00\uff0c\u5df2\u80fd\u591f\u5229\u7528\u4e09\u9897\u536b\u661f\u4e3a\u4e2d\u56fd\u53ca\u5468\u8fb9\u5730\u533a\u7528\u6237\u63d0\u4f9b30\u5206\u949f\u5185\u6536\u655b\u7684\u5206\u7c73\u7ea7\u514d\u8d39\u5b9a\u4f4d\u670d\u52a1\u3002\u5317\u6597\u9884\u8ba1\u5c06\u8fdb\u4e00\u6b65\u63d0\u5347\u7cbe\u5ea6\uff0c\u51cf\u5c11\u6536\u655b\u65f6\u95f4\uff0c\u800c\u663e\u7136PPP-RTK\u662f\u4e00\u4e2aattractive\u7684\u65b9\u6848\u3002<\/p>\n

5. GNSS\u5b9a\u4f4d\u589e\u5f3a\u6280\u672f\u4e0e\u81ea\u52a8\u9a7e\u9a76<\/p>\n

\u589e\u5f3a\u7684GNSS\u5b9a\u4f4d\u6280\u672f\uff0c\u5305\u62ecPPP\u548cRTK\uff0c\u90fd\u4e3a\u81ea\u52a8\u9a7e\u9a76\u7684\u5b9a\u4f4d\u5e94\u7528\u63d0\u4f9b\u4e86\u6709\u6548\u7684\u652f\u6491\uff0c\u5176\u4e2dRTK\u7684\u5e94\u7528\u76f8\u5bf9\u66f4\u52a0\u5e7f\u4e00\u4e9b\u3002\u4f8b\u5982\uff0c\u57fa\u4e8eCROS\u7684NRTK\u6280\u672f\u5728\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u8d77\u5230\u4e86\u91cd\u8981\u4f5c\u7528\uff1a<\/p>\n

\u4e00\u4e9b\u9ad8\u7cbe\u5730\u56fe\u5382\u5546\u9010\u6e10\u653e\u5f03\u81ea\u5df1\u6253\u63a7\u5236\u70b9\u7684\u505a\u6cd5\uff0c\u800c\u91c7\u7528NRTK\u7684\u65b9\u6848\uff0c\u5f88\u5927\u7a0b\u5ea6\u4e0a\u51cf\u5c11\u5916\u4e1a\u4f5c\u4e1a\u6210\u672c\u3002\u6bd4\u5982\u9ad8\u5fb7\u3001Monenta\u8d2d\u4e70\u4e86\u5343\u5bfb\u7684\u670d\u52a1\uff0c\u56db\u7ef4\u5219\u662f\u91c7\u7528\u81ea\u5bb6\u7684\u516d\u5206\u79d1\u6280\u7684CROS\u670d\u52a1\u3002<\/p>\n

\u4e00\u4e9b\u81ea\u52a8\u9a7e\u9a76\u8f66\u8f86\u4e5f\u4f1a\u91c7\u7528\u57fa\u4e8eCROS\u7684RTK\u5b9a\u4f4d\u6280\u672f\uff0c\u4f8b\u5982\u5c0f\u9e4fP7\u5373\u7531\u5343\u5bfb\u4f4d\u7f6e\u63d0\u4f9b\u5dee\u5206\u5b9a\u4f4d\u670d\u52a1\u3002\u622a\u81f32022\u5e74\uff0cRTK\u5df2\u5728\u591a\u4e2a\u88c5\u5907\u4e86\u8f85\u52a9\u9a7e\u9a76\u7684\u8f66\u578b\u4e0a\u91cf\u4ea7\u3002\u5f53\u524d\uff0c\u8f83\u4e3a\u6210\u719f\u7684RTK\u6a21\u5757u-blox F9\u6279\u91cf\u91c7\u8d2d\u7684\u6210\u672c\u53ef\u964d\u81f3\u5343\u5143\u4ee5\u5185\u3002\u5f53\u524d\u8bb8\u591a\u8f66\u578b\u90fd\u9884\u88c5\u4e86\u8be5RTK\u6a21\u5757\u3002<\/p>\n

<\/p>\n

U-blox F9\u6a21\u5757<\/p>\n

PPP-RTK\u4e5f\u5728\u4e00\u4e9b\u91cf\u4ea7\u8f66\u578b\u4e0a\u5f97\u5230\u4e86\u5e94\u7528\uff0c\u6bd4\u5982\u51ef\u8fea\u62c9\u514b\u88c5\u5907\u4e86Super Cruise\u8f85\u52a9\u9a7e\u9a76\u7cfb\u7edf\u7684\u8f66\u578b\uff0c\u7edf\u4e00\u91c7\u7528\u4e86\u5929\u5b9d\uff08Trimble\uff09\u63d0\u4f9b\u7684Centerpoint RTX\u9ad8\u7cbe\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u53ef\u4ee5\u5b9e\u73b0\u4e9a\u7c73\u7ea7\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/p>\n

\u5f53\u7136\uff0c\u4e4b\u524d\u5df2\u7ecf\u4ece\u7535\u78c1\u6ce2\u81ea\u8eab\u89d2\u5ea6\u8fdb\u884c\u4e86\u5206\u6790\uff0cGNSS-RTK\u5728\u57ce\u5e02\u3001\u5c71\u533a\u7b49\u5b58\u5728\u906e\u6321\u7684\u72b6\u51b5\u4e0b\u7684\u6027\u80fd\u4f1a\u4e25\u91cd\u4e0b\u964d\uff0c\u57fa\u672c\u53ea\u80fd\u63d0\u4f9b\u7ea61-2\u7c73\u7ea7\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u3002\u56e0\u6b64\u5728\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\uff0cRTK\u6216PPP-RTK\u5e76\u975e100%\u5de5\u51b5\u9002\u7528\u7684\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u4ecd\u7136\u9700\u8981\u914d\u5408\u5176\u4ed6\u5b9a\u4f4d\u7cfb\u7edf\uff0c\u4f8b\u5982IMU\u3001\u57fa\u4e8e\u89c6\u89c9\u3001\u6fc0\u5149\u96f7\u8fbe\u7684\u5b9a\u4f4d\u7cfb\u7edf\u4f7f\u7528\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

\u53d1\u5e03\u4e8e 2023-02-07 21:56\u30fbIP […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,1],"tags":[],"class_list":["post-4055","post","type-post","status-publish","format-standard","hentry","category-technology-frontier","category-home"],"views":6,"_links":{"self":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/4055"}],"collection":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/comments?post=4055"}],"version-history":[{"count":1,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/4055\/revisions"}],"predecessor-version":[{"id":4077,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/posts\/4055\/revisions\/4077"}],"wp:attachment":[{"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/media?parent=4055"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/categories?post=4055"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/222.128.65.89:18086\/index.php\/wp-json\/wp\/v2\/tags?post=4055"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}