单频RTK动态精度检测法及实验验证

单频RTK技术在高精度测绘、无人驾驶等领域有着广泛应用，针对单频RTK的动态定位精度量化问题，提出了一种易于操作、适用地域广、不需要额外辅助设备的单频RTK动态精度检测法。首先，在地面建立基准直线; 然后，沿基准直线以走停模式测量RTK静态、动态组合数据，将静态数据利用整体最小二乘法拟合得到检核直线，并以此为参考评定动态定位精度; 最后，进行可靠性检验。精度评定时，以动态点到检核直线的平均偏离作为动态精度指标，采用间距误差作为检验所提方法可靠性的指标。实验结果表明，所提方法具有较高的可靠性，可以准确量化单频RTK约2~5 cm的动态定位精度。 

Method and experimental verification of dynamic accuracy detection of single-frequency RTK

Single-frequency RTK technology is widely used in high-accuracy mapping, unmanned driving and other fields. A single-frequency RTK dynamic accuracy detection method is proposed to accurately quantify the dynamic positioning accuracy. It is easy to operate, suitable for a wide area and does not need additional auxiliary equipment. Using this method, we first establishes some reference lines on the ground, then measures RTK static and dynamic combined data along the reference lines in the run-stop mode. The static data are fitted by the total least squares algorithm to get the called checking lines, which are then used as the references for evaluating the dynamic positioning accuracy. The reliability of the proposed method is also checked using the same sets of the test data. During accuracy assessment, the average deviation from the dynamic point to the checking lines is used as the dynamic accuracy index, and the reliability index of the method is characterized by the difference between the distances of two reference lines and those of two checking lines. The experimental results show that the proposed method has high reliability and can accurately quantify the dynamic positioning accuracy of single-frequency RTK of about 2-5 cm.