Relative positioning with a moving base is required in many vehicle-to-vehicle applications. Due to unavoidable latency, conventional synchronous real-time kinematic (SRTK) positioning, which refers a fixed base, cannot fulfill the requirements of high-speed safety–critical situations since the movement of the base during the latency must be considered. We present an asynchronous RTK (ARTK)/time-differenced carrier phase (TDCP) integration method. We first introduce the ARTK method to directly obtain the asynchronous baseline between moving base and rover at their respective observation epochs. The position increments of the moving base during the latency are then calculated by the TDCP technique. Finally, the two positioning results are combined to achieve low-latency, high-rate, and high-precision relative positioning. With the proposed method, the size of transmitted data packets can be significantly reduced, which is beneficial for real-time implementation. It is also noted that the proposed method can be easily merged with global navigation satellite system/inertial navigation system (INS) integration to further improve the output rate of relative position. The performance is evaluated by a field test using two moving vehicles with one being the moving base and the other the rover. Results show that the baseline error is less than 1 cm compared to reliably post-processed SRTK results when latencies of raw observations remain below 1 s. Even when the latency is 15 s, centimeter-level accuracy can still be guaranteed. With ARTK/TDCP/INS integration, decimeter-to-centimeter-level higher-rate (> 100 Hz) relative positioning results can be obtained.

中文翻译：

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通过移动基座实时进行低延迟，高速率，高精度的相对定位

在许多车辆到车辆的应用中，需要使用移动基座进行相对定位。由于不可避免的等待时间，常规的同步实时运动（SRTK）定位（指的是固定的基座）无法满足对高速安全至关重要的情况的要求，因为必须考虑等待时间期间基座的运动。我们提出了一种异步RTK（ARTK）/时差载波相位（TDCP）集成方法。我们首先介绍ARTK方法，以直接获得移动基准站和流动站在其各自的观测时期之间的异步基线。然后，通过TDCP技术计算在等待时间期间移动基座的位置增量。最后，将两个定位结果相结合，以实现低延迟，高速率和高精度的相对定位。使用建议的方法 传输数据包的大小可以大大减小，这对于实时实现是有利的。还应注意，所提出的方法可以容易地与全球导航卫星系统/惯性导航系统（INS）集成合并，以进一步提高相对位置的输出率。通过使用两辆移动的车辆进行现场测试来评估性能，其中一辆是移动基地，另一辆是流动站。结果表明，当原始观测值的潜伏期保持在1 s以下时，与可靠地进行后处理的SRTK结果相比，基线误差小于1 cm。即使延迟为15 s，仍可以保证厘米级的精度。通过ARTK / TDCP / INS集成，可以获得厘米级至厘米级的更高速率（> 100 Hz）的相对定位结果。