Abstract Precise Point Positioning Velocity Estimation (PPPVE) and Doppler Velocity Estimation (DVE) are two commonly used methods for precise velocity estimation with a stand-alone GPS receiver. The accuracy of PPPVE is affected by the dynamic model and the dynamic conditions of the vehicle, while the motion state of the vehicle has little influence on DVE. Therefore, we propose an approach by combining PPPVE and DVE, namely PPP-DVE. This method combines the high accuracy of PPPVE and immunity of DVE to vehicle dynamic conditions, and can provide high-precision position, velocity, and acceleration measurements simultaneously. The results show that when the vehicle is stationary or moving smoothly, the performance of PPP-DVE is the same as that of PPPVE. However, when a sudden change in the status of the vehicle occurs, such as braking, turning, accelerating, etc., the accuracy of velocity measured by the PPP-DVE with the constraints of DVE is better than that measured by PPPVE. Overall, the accuracy and reliability of velocity determination are significantly improved with use of the proposed method.

中文翻译：

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多普勒观测约束下的GPS PPP速度估计研究

摘要 精确点定位速度估计（PPPVE）和多普勒速度估计（DVE）是两种常用的独立GPS接收机精确速度估计方法。PPPVE的精度受动力学模型和车辆动力学条件的影响，而车辆的运动状态对DVE影响不大。因此，我们提出了一种结合PPPVE和DVE的方法，即PPP-DVE。该方法结合了PPPVE的高精度和DVE对车辆动态条件的抗扰性，可以同时提供高精度的位置、速度和加速度测量。结果表明，当车辆静止或平稳移动时，PPP-DVE 的性能与 PPPVE 相同。但是，当车辆状态发生突然变化，如刹车、转弯、加速等，受 DVE 约束的 PPP-DVE 测得的速度精度优于 PPPVE 测得的速度。总体而言，使用所提出的方法显着提高了速度确定的准确性和可靠性。