RTK完好性指标分配方法

doi:10.7527/S1000-6893.2025.31655

Abstract

Abstract:

As the most widely used high-precision positioning technology of the Global Navigation Satellite System （GNSS）， the integrity of Real-Time Kinematic （RTK） relative positioning remains a hot topic in the industry and academia area. It is also a critical challenge that determines whether RTK can be used in life safety-related fields such as autonomous driving. However， current research on RTK integrity mainly focuses on the level of conceptual discussion and user-end algorithms， with issues such as unclear performance indicators， complex and unclear algorithms， and a lack of systematic analysis framework and solutions. By studying various augmentation systems in the aviation field， this paper identifies key elements in integrity solution， including multiple stages such as demand analysis， risk source analysis， integrity indicator allocation， monitoring scheme design， and verification scheme design. Among them， the integrity indicator allocation stage undertakes user needs and monitor performance requirements， involving the establishment of an overall analysis process and framework， forming the basis for subsequent specific monitor design and verification， and thus becomes the core of the overall integrity solution. To address this， this paper proposes an RTK integrity indicator allocation method inspired by the risk indicator allocation process in the Ground-Based Augmentation System （GBAS）. Then， deriving the Maximum Allowable Measurement Error （MERR） calculation formula applicable to the Kalman filter is derived， and a complete indicator allocation scheme from both probabilistic and error-bound perspectives is presented. The proposed method and allocation examples can provide theoretical support and data reference for RTK service providers in developing integrity solutions and promoting relevant service.

Key words: GNSS, RTK integrity, integrity augmentation system, risk indicator allocation, maximum allowable measurement error

CLC Number:

V249.3

Yuan SONG, Rui LI, Zhigang HUANG. Allocation method of RTK integrity indicators[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(16): 331655.

Figures/Tables 12

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References 36

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观测站组合（日期）	方向	定位误差分位数/m
观测站组合（日期）	方向	95%	99.9%	99.999%
HKLT/HKPC（2020）	E	0.037 3	0.068 6	0.215 2
	N	0.022 5	0.050 8	0.401 1
	U	0.078 0	0.136 2	0.284 4
HKMW/HKCL（2020）	E	0.028 4	0.220 6	0.411 1
	N	0.025 6	0.057 4	0.062 2
	U	0.077 2	0.105 0	0.141 6
HKLT/HKPC（2024）	E	0.085 4	0.356 2	0.879 5
	N	0.078 8	0.195 8	0.309 4
	U	0.155 6	0.360 6	1.559 9
HKMW/HKCL（2024）	E	0.091 3	0.412 0	2.141 7
	N	0.072 6	0.168 4	2.898 6
	U	0.121 8	0.347 9	2.610 4

观测站	接收机类型	载波周跳率/h^-1	伪距粗差率/h^-1	接收机故障率/h^-1
HKPC	Leica GR50	3.2×10^-3	1.7×10^-3	4.9×10^-3
HKLT	Leica GR50	3.6×10^-3	8.54×10^-4	4.5×10^-3
HKCL	Trimble NetR9	1.67×10^-2	2.6×10^-3	1.93×10^-2
HKMW	Trimble NetR9	1.07×10^-2	9.2×10^-3	1.99×10^-2

故障来源	故障分类	先验故障率/h^-1	漏检率	完好性风险/h^-1
卫星段	星历异常	1×10^-3	1×10^-3	1×10^-6
卫星段	星钟异常	1×10^-3	1×10^-3	1×10^-6
传播段	电离层异常	1×10^-1	2×10^-6	2×10^-6
传播段	对流层异常	1×10^-1	1×10^-6	1×10^-6
地面段	基准站接收机故障	2×10^-2	1×10^-4	2×10^-6
	基准站位置异常	1×10^-1	1×10^-5	1×10^-6
	信号质量异常	2×10^-2	1×10^-4	2×10^-6

风险误差项	误差标准差/m	95%误差/m	风险概率指标	MERR/m
卫星段测距误差	0.10	0.15	2×10^-6	0.47
电离层测距误差	0.12	0.23	2×10^-6	0.57
对流层测距误差	0.08	0.15	5×10^-7	0.40
接收机故障测距误差	0.07	0.13	2×10^-6	0.33
基准站位置异常	0.10	0.19	1×10^-6	0.48

Allocation method of RTK integrity indicators

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