PPK与PPK/INS组合导航模式的定位性能对比OA

Post-processed kinematic(PPK)and the combination of PPK with an inertial navigation system(INS)(PPK/INS)are two post-processed integrated navigation modes.To compare the performance differences between these two navi-gation modes,this paper summarized the system structures and mathematical models of both combinations and conducted two sets of comparative experiments using the open-source software GINav.The experimental results show that the tightly coupled(TC)PPK/INS-TC positioning mode achieves position error accuracies of 0.47,0.71,and 0.56 cm in the north,east,and vertical directions,respectively,representing an improvement of 90.89%,88.09%,and 85.15%compared to the PPK positioning mode.The velocity errors in the north,east,and vertical directions for the PPK/INS-TC positioning mode are 0.005,0.005,and 0.005 m/s,respectively,representing improvements of 82.14%,82.76%,and 82.76%compared to the PPK/INS-loosely coupled(LC)positioning mode.Meanwhile,the pitch angle error,roll angle error,and heading angle error for the PPK/INS-TC positioning mode are 0.018°,0.018°,and 0.082°,respectively,which represent improve-ments of 28.00%,21.74%,and 18%compared to the PPK/INS-LC mode based on LC values.This indicates that tightly coupled PPK/INS navigation significantly enhances positioning performance in terms of position error,velocity error,atti-tude error,and ambiguity resolution success rate.