Performance Analysis of Kinematic-to-Kinematic Relative Positioning Based on GPS/BDS-3

The kinematic-to-kinematic relative positioning (KKRP) technology can provide the accurate relative position between two moving objects without relying on a fixed reference station, and it has a wide application prospect. In dynamic positioning, the problems come out in signal-challenged environments, such as few available satellites, low ambiguity fixed rate, and unsatisfactory baseline resolution. To solve these problems mentioned above, the KKRP model between moving reference station and rover station is deduced in this paper. Furthermore, the signals GPS L1, L2, L5 and BDS-3 B1I, B2b, B3I are used to analyze the satellite and epoch availability, ambiguity and baseline resolution performance for cut-off elevation angles of 15º, 25º, 35º, and 45º by three different modes, including GPS, BDS-3, and GPS/BDS-3 combined. At last, a vehicular experiment was carried out to analysis the performance. The results show that the positioning performance can be significantly improved by combining different navigation systems and increasing the number of frequencies, and can be continuously maintained in complex environments with higher cut-off elevation angle, such as urban canyons, mountains, and forests.