Differential GNSS (DGNSS) has been demonstrated to provide reliable, high-quality range correction information enabling real-time navigation with centimeter to sub-meter accuracy, which is required for applications such as connected and autonomous vehicles. However, DGNSS requires a local reference station near each user. For a continental or global scale implementation, this information dissemination approach would require a dense network of reference stations whose construction and maintenance would be prohibitively expensive. Precise Point Positioning affords more flexibility as a public service for GNSS receivers, but its State Space Representation format is not supported by most receivers in the field or on the market. This article proposes a novel Virtual Network DGNSS (VN-DGNSS) approach and an optimization algorithm that is key to its implementation. The approach capitalizes on the existing PPP infrastructure without the need for new physical reference stations. By connecting to public GNSS SSR data services, a VN-DGNSS server maintains current information about common-mode errors. Construction of the RTCM Observation Space Representation messages from this SSR information requires both the signal time-of-transmission and the satellite position at that time which are consistent with the time-of-reception for each client. This article presents an algorithm to determine these quantities. The results of real-time stationary and moving platform evaluations are included, using u-blox M8P and ZED-F9P receivers. The performance surpasses the SAE specification (68% of horizontal error <= 1.5 m and vertical error <= 3 m) and shows significantly better horizontal performance than GNSS Open Service. The moving tests also show better horizontal performance than the ZED-F9P receiver with SBAS enabled and achieve the lane-level accuracy (95% of horizontal errors less than 1 meter).
翻译:不同的全球导航卫星系统(DGNSS)已被证明能够提供可靠、高质量、高质量的范围校正信息,使实时导航以厘米到子米精确度,这是连接和自主车辆等应用程序所需要的。但是,DGNSS需要在每个用户附近建立一个本地参照站。对于大陆或全球规模的实施,这种信息传播方法需要有一个密集的参照站网络,其建造和维护费用将令人望而却步。精确点定位作为全球导航卫星系统接收器的公共服务提供了更大的灵活性,但其国家水平空间代表格式没有得到外地或市场大多数接收者的支持。本文章提出了一个新的虚拟网络 DGNSS(VN-DGNSS) 的高级定位方法和优化算法,这是实施该方法的关键。对于现有的公私伙伴关系基础设施而言,不需要新的物理参照站。通过连接公共全球导航卫星系统系统的数据服务,VN-DGNSS服务器保持关于通用模式错误的当前信息。从这一SSRSF 建立RTC观测空间代表信息需要更好的传输时间和卫星位置。在那个时间里,GNBS-P9 运行的运行结果也比SEDLOMS的运行质量水平上显示实时和磁值。