基于MADOCA星基增强服务的PPP-WAR定位性能分析

doi:10.13474/j.cnki.11-2246.2026.0802

测绘通报 ›› 2026, Vol. 0 ›› Issue (8): 8-13,20.doi: 10.13474/j.cnki.11-2246.2026.0802

基于MADOCA星基增强服务的PPP-WAR定位性能分析

焦辉¹, 石尚峰¹, 郑凯^1,2

1. 武汉理工大学航运学院, 湖北武汉 430063;
2. 水路交通控制全国重点实验室(武汉理工大学), 湖北武汉 430063

收稿日期:2025-11-27 发布日期:2026-09-12
通讯作者: 郑凯。E-mail： kzheng@whut.edu.cn
作者简介:焦辉(1999—)，男，硕士生，主要研究方向为GNSS精密定位。E-mail： jh288206@whut.edu.cn
基金资助:
湖北省自然科学基金(2025AFB652)；国家自然科学基金(42104015)

PPP-WAR positioning performance analysis based on MADOCA satellite-based augmentation service

Jiao Hui¹, Shi Shangfeng¹, Zheng Kai^1,2

1. School of Navigation, Wuhan University of Technology, Wuhan 430063, China;
2. State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, China

Received:2025-11-27 Published:2026-09-12

摘要/Abstract

摘要： [目的] GNSS实时高精度定位是自动驾驶、无人机导航等应用的关键技术支撑。近年来，基于WL模糊度固定的精密单点定位技术(PPP-WAR)可实现快速分米级定位，受到了广泛关注。然而，当前PPP-WAR受制于互联网通信条件，难以应用于无网络环境。[方法] 本文提出了一种基于因子图优化和MADOCA-PPP服务的PPP-WAR算法，并采用伪动态和城市环境车载试验进行了验证。[结果] 试验结果表明，利用WL UPD改正产品进行模糊度固定，东、北、天方向的定位精度分别可达0.54、0.58和 1.06 m，较浮点解分别提升28.6%、3.6%和25.3%，收敛时间缩短约30%；而利用MADOCA提供的OSB恢复出的WL UPD时间稳定性相对较差，标准差约为0.02～0.03周，其PPP-WAR定位性能稍弱。[结论] 总体而言，两者与采用WHU实时精密产品解算的结果精度大致相当。

关键词: MADOCA-PPP, PPP-WAR, 因子图优化, GPS, Galileo

Abstract: [Purposes] Real-time，high-precision GNSS positioning is critical for applications such as autonomous driving and unmanned aerial vehicle navigation.Precise point positioning with WL ambiguity resolution (PPP-WAR)offers rapid decimeter-level accuracy but is often limited by network communication，hindering offline use. [Methods] Therefore，this paper proposes a PPP-WAR algorithm based on factor graph optimization and MADOCA-PPP service，validated through simulated kinematic tests and vehicle-borne experiments in urban environments. [Findings] Results show that using the WL UPD products for ambiguity fixation，the method achieved positioning accuracies of 0.54，0.58，and 1.06 m in the E，N and U directions，representing improvements of 28.6%，3.6%，and 25.3% over the float solution，with convergence time shortened by approximately 30%.However，the WL UPD derived from OSB provided by MADOCA showed lower temporal stability，with an standard deviation of approximately 0.02 to 0.03 cycles，leading to a slight degradation in PPP-WAR performance. [Conclusions] Overall，both approaches achieved accuracy comparable to solutions based on WHU real-time precise products．

Key words: MADOCA-PPP, PPP-WAR, factor graph optimization, GPS, Galileo

中图分类号:

P228

焦辉, 石尚峰, 郑凯. 基于MADOCA星基增强服务的PPP-WAR定位性能分析[J]. 测绘通报, 2026, 0(8): 8-13,20.

Jiao Hui, Shi Shangfeng, Zheng Kai. PPP-WAR positioning performance analysis based on MADOCA satellite-based augmentation service[J]. Bulletin of Surveying and Mapping, 2026, 0(8): 8-13,20.

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基于MADOCA星基增强服务的PPP-WAR定位性能分析

PPP-WAR positioning performance analysis based on MADOCA satellite-based augmentation service

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