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Abstract：
Real-time kinematic (RTK) technique is widely used in modern society because of its high accuracy and real-time positioning. The appearance of Android P and the application of BCM47755 chipset make it possible to use single-frequency RTK and dual-frequency RTK on smartphones. The Xiaomi Mi 8 is the first dual-frequency Global Navigation Satellite System (GNSS) smartphone equipped with BCM47755 chipset. However, the performance of RTK in urban areas is much poorer compared with its performance under the open sky because the satellite signals can be blocked by the buildings and trees. RTK can\'t provide the positioning results in some specific areas such as the urban canyons and the crossings under an overpass. This paper combines RTK with an IMU-based pedestrian navigation algorithm. We utilize attitude and heading reference system (AHRS) algorithm and zero velocity update (ZUPT) algorithm based on micro electro mechanical systems (MEMS) inertial measurement unit (IMU) in smartphones to assist RTK for the sake of improving positioning performance in urban areas. Some tests are carried out to verify the performance of RTK on the Xiaomi Mi 8 and we respectively assess the performances of RTK with and without the assistance of an IMU-based pedestrian navigation algorithm in urban areas. Results on actual tests show RTK with the assistance of an IMU-based pedestrian navigation algorithm is more robust and adaptable to complex environments than that without it.
摘要：
实时运动(RTK)技术由于其高精度和实时定位而在现代社会中得到了广泛的应用。AndroidP的出现和BCM47755芯片组的应用使在智能手机上使用单频RTK和双频RTK成为可能。小米米8是第一款配备BCM47755芯片组的双频全球导航卫星系统（GNSS）智能手机。然而,由于卫星信号可能被建筑物和树木阻挡，因此RTK在城市地区的性能要比在开阔天空下的性能差得多。RTK无法提供某些特定区域的定位结果，例如城市峡谷和立交桥下的十字路口。本文将RTK与基于IMU的行人导航算法相结合。我们利用基于智能手机微机电系统（MEMS）惯性测量单元（IMU）的姿态和航向参考系统（AHRS）算法和零速度更新（ZUPT）算法来辅助RTK，以提高城市地区的定位性能。进行了一些测试以验证RTK在小米Mi8上的性能，我们分别评估了RTK在城市地区使用和不使用基于IMU的行人导航算法的情况下的性能。实际测试结果表明，在基于IMU的行人导航算法的辅助下，RTK比没有它的情况下更具鲁棒性和适应性。
