Research on RTK tilt position measurement method based on UKF

被引:2
|
作者
Nie, Bo [1 ]
Chen, Guiming [1 ]
Liu, Bingqi [1 ]
机构
[1] High Tech Inst, Xian, Peoples R China
来源
IET RADAR SONAR AND NAVIGATION | 2019年 / 13卷 / 12期
关键词
position measurement; Kalman filters; measurement errors; Global Positioning System; nonlinear filters; position control; centering rod tilt; measurement error; centimetre-level position accuracy; estimated errors; convergence; measurement points; taking coordinates; positioning error; specified coordinate system; results real time; traditional GPS static measurement method; position measurement method; real-time kinematic; actual measurement; terrain; UKF; RTK;
D O I
10.1049/iet-rsn.2019.0128
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
Aiming at coordinates of some points cannot be measured directly due to the limits of terrain and instruments in actual measurement, a novel real-time kinematic (RTK) tilt position measurement method is proposed in this study. Traditional GPS static measurement method cannot gain positioning results real time. In contrast, RTK can provide real-time 3D positioning results of stations in specified coordinate system and the positioning error is centimetre scale. Taking coordinates of points on spherical model as observation, the coordinates of measurement points are got indirectly through estimating positions of sphere centre based on unscented Kalman filter (UKF). Three schemes are designed to verify the performance of the proposed method through convergence and estimated errors. As the semi-physical simulation shows, the proposed method has better performance and is simple and easy to operate. Besides, the proposed method can smooth noise of measurement points and it can realise centimetre-level position accuracy without any auxiliary equipment, which effectively avoids measurement error caused by centering rod tilt.
引用
收藏
页码:2102 / 2106
页数:5
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