Research on Real-time Carrier Phase Differential GNSS Relative Navigation
YANG Shaoshuai
CHEN Xiaojiang
Abstract：GNSS RTK is widely used in cooperative navigation between dynamic platforms.Due to the delay of RTK relative position,extrapolation is necessary.A method of real time dynamic carrier phase differential relative navigation is proposed,which compensates delay of generation of differential data,transmission of differential data and procession of navigation solution.The meth-od is based on GNSS relative velocity solution and time service and the precision of relative position is based on the relative velocity.A method is proposed to eliminate outlier error to guarantee the precision of relative velocity.Tested by car verification system,this method can ensure effectively eliminate relative velocity and position outlier,with the precision of relative position RMS error 0.005 m,and max error 0.029 m.
Keywords：real-time relative positionvelocity extrapolationoutlier elimination
Publication Date：2024-11-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 70-75 )