Abstract
In network real-time kinematic (NRTK) positioning, atmospheric delay information is critical for generating virtual observations at a virtual reference station (VRS). The traditional linear interpolation method (LIM) is widely used to obtain the atmospheric delay correction. However, even though the conventional LIM is robust in the horizontal direction of the atmospheric error, it ignores the influence of the vertical direction, especially for the tropospheric error. If the height difference between the reference stations and the rover is large and, subsequently, tropospheric error and height are strongly correlated, the performance of the traditional method is degraded for tropospheric delay interpolation at the VRS. Therefore, considering the height difference between the reference stations and the rover, a modified linear interpolation method (MLIM) is proposed to be applied to a conventional single Delaunay triangulated network (DTN). The systematic error of the double-differenced (DD) tropospheric delay in the vertical direction is corrected first. The LIM method is then applied to interpolate the DD tropospheric delay at the VRS. In order to verify the performance of the proposed method, we used two datasets from the American NOAA continuously operating reference stations (CORS) network with significant height differences for experiments and analysis. Results show that the DD tropospheric delay interpolation accuracy obtained by the modified method is improved by 84.1% and 69.6% on average in the two experiments compared to the conventional method. This improvement is significant, especially for low elevation satellites. In rover positioning analysis, the traditional LIM has a noticeable systematic deviation in the up component. Compared to the conventional method, the positioning accuracy of the MLIM method is improved in the horizontal and vertical directions, especially in the up component. The accuracy of the up component is reduced from tens of centimeters to a few centimeters and demonstrates better positioning stability.
Highlights
The traditional single-baseline real-time kinematic (RTK) positioning technology has been developed over the last several decades
The emergence of network real-time kinematic (NRTK), which is based on multiple reference stations, has expanded the scope of services for precise real-time positioning [1,2,3]
The main objective of this research is to improve the accuracy of the tropospheric delay correction using the interpolation algorithm in the NRTK of the Delaunay triangulated network (DTN) model in order to obtain more stable and more accurate positioning results through the modified method, especially in the vertical direction
Summary
The traditional single-baseline real-time kinematic (RTK) positioning technology has been developed over the last several decades. Due to the influence of atmospheric errors, orbital errors, and other distance-related errors, the distance between the rover and the reference station can only be about 10 km for centimeter-level positioning. The emergence of network real-time kinematic (NRTK), which is based on multiple reference stations, has expanded the scope of services for precise real-time positioning [1,2,3]. Virtual reference station (VRS) technology has been widely applied in NRTK data processing. When the ambiguities between reference stations are fixed in the network, distance-dependent errors, such as the double-differenced (DD) ionospheric and tropospheric delay of baselines, can be calculated. Using the estimated error among the reference stations, we can obtain
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