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2022 | OriginalPaper | Chapter

A Smartphone RTK Algorithm Based on Velocity Constraint

Authors : Qiang Zhang, Zhengdong Bai, Haohao Xin, Yilong Yuan

Published in: China Satellite Navigation Conference (CSNC 2022) Proceedings

Publisher: Springer Nature Singapore

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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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Metadata
Title
A Smartphone RTK Algorithm Based on Velocity Constraint
Authors
Qiang Zhang
Zhengdong Bai
Haohao Xin
Yilong Yuan
Copyright Year
2022
Publisher
Springer Nature Singapore
DOI
https://doi.org/10.1007/978-981-19-2588-7_41