Precise velocity of the dynamic platform can be determined by single-difference (SD) of accumulated carrier-phase measurements between epochs. Based on the velocity estimated by the SD method, an approach for kinematic precise point positioning with Extended Kalman Filter is proposed. The algorithm enables correct description of highly dynamic system, and has an advantage over empirical dynamic models. In the meanwhile, precise velocity information can also be obtained. An aircraft dynamic test shows that the discrepancies between the single point-positioning solution and the relative double-difference (DD) TRACK solution are within a few centimeters. The RMS values are better than 3cm in north and east components, and 6 cm in the up component. The accuracy of estimated velocity comes up to mm/s level.%利用相邻历元间的载波相位单差可求得动态载体的高精度三维速度向量,基于此提出了可精确描述载体运动变化的扩展卡尔曼滤波动态精密单点定位算法.该算法克服了高动态条件下采用简化动力学模型可能引起的系统状态描述失实问题,同时还可输出动态载体的精密速度信息.飞机动态试验结果表明,用该算法的动态单点定位结果与TRACK双差解计算互差得到的三维RMS值,平面分量精度优于3cm,高程分量精度优于6cm,速度测量精度可达mm/s级.
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