?? ?? Tomoji TAKASU

1
RTK-GPS????????????? (7)Basics of RTK-GPS
Positioning and Its Programing

• ?????????????/?????????
• ?? ?? Tomoji TAKASU

2
??

• ??Ambiguity??
• ??(OTF)AR
• ???????
• ??????
• LAMBDA
• ??Ambiguity??
• AR????????

3
??Ambiguity??

• ???????????????
• ?????????????????????????????????????
• ????????????????
• RTK????????????????????? (On-The-FlyOTF)??

4
??(OTF)AR?? (1)
D.Kim et al., GPS Ambiguity Resolution and
Validation Methodologies, Trend and Issues,
International Symposium on GPS/GNSS, 2000
5
??(OTF)AR?? (2)

• ????, ???, ???????
• 1??????Instantaneous AR (??AR)
• ????????????????????(Integer Least Square)???

6
??????? (1)

• ?????????????????
• ???GPS/Galileo????3?????? (L1/L2/L5,E1/E2/E4)?
  ??
• ??????????????????
• ???????????

7
??????? (2)
???????????
??????
L1?????
8
??????? (3)
9
??????? (4)
10
??????? (5)
11
??????? (6)
Success Rate
N
N1
N-1
N
N1
N-1
12
?????? (1)

• ????????????????????????????
• ????????????
• ????
• (??)?????(FLOAT?)
• ??(???-???)???????????????
• ??????????????(FIX?)

13
?????? (2)
????????
??? (??)
?? ???
FLOAT?
????
?????????
FIX?
14
?????? (3)
?????????
15
LAMBDA

• Least-square AMBiguity Decorrelation Adjustment
  (Teunissen, 1995)
• ???????????AR?????
• Z??(????)????????????
• ???????????????

16
Z??(????)

• ?????????????
• ?????????????(integer unimodular??)
• LAMBDA Decorrelation(????)??Gauss???????

17
??Gauss??
18
Lambda Reduction (1)
19
Lambda Reduction (2)
20
Z????
21
????????? (1)
?
?
?
?
22
????????? (2)
23
????????? (3)
-1
1
0
-1
0
1
-1
0
0
0
-1
-2
1
2
0
24
????????? (4)
-1
1
0
-1
0
1
-1
0
0
0
-1
-2
1
2
0
25
????????? (5)
-1
1
0
-1
0
1
-1
0
0
0
-1
-2
1
2
0
26
????????? (6)
-1
1
0
-1
0
1
-1
0
0
0
-1
-2
1
2
0
27
????????? (7)
-1
1
0
-1
0
1
-1
0
0
0
-1
-2
1
2
0
28
LAMBDA??
29
LAMBDA?????
with decorrelation without decorrelation
(Pentium 4 3.2GHz Intel C/C8.0)
Execution Time (ms)
N Number of Ambiguities
30
??Ambiguity??

• FIX???????????
• ?????/?????(??FIX)?
• Ratio Test
• ??? F-ratio Test?W-Test etc

31
RTK????(FIX?)
32
AR????????

• Geometry Free?(?????) vsGeometry Based?(??)
• Single-Epoch?(Instantanious AR) vs Multi-Epoch?
• Multi-Epoch?Fix??Ambiguity?????????Slip???AR
• ?(??)AR vs ??AR