基于RTK技术的无人机实时动态定位算法优化

打开文本图片集

中图分类号：TP39；V249；P288 文献标识码：A 文章编号：2096-4706（2026）04-0008-05

Optimization of Real-time Dynamic Positioning Algorithm for UAVs Based on RTK Technology

MO Wu1234， YU Xuexiang123.4

（1.SchoolofSpatialIformationandGeomaticsEnginering，nuiUversityofienceandTechologyHuainan201，

China;2.Urban3DRealSceneandInteligentSecurityMonitoringJointingLaboratoryofAnhui Province，Huainan232001，

China; 3.KeyLaboratoryofAviation-aerospace-ground Cooperative Monitoring andEarly Warning ofCoalMining-induced DisastersofAnhui HigherEducationInstitutes，Anhui UniversityofScienceandTechnology，Huainan32Oo1，China; 4.Engineering Research Center of Mining Area Environmentaland Disaster Cooperative Monitoring， Anhui University of Scienceand Technology，Huainan 232oo1，China）

Abstract： Withthe vigorous developmentofthe low-altitude economy，the demandforUnmannedAerial Vehicles （UAVs） in logistics distribution，surveying and mapping，andemergencyrescuecontinuesto expand.However，traditional satelite navigation and positioning methods aresusceptible to multipath effectsand ionospheric delayinlow-altitude environments， making itdiculttoaceegpreisioeal-tieposiioing.Indition，igprecisionhmessuchasiertialigation havehighcosts，whichlimitstheirpopularityinlarge-scale UAVapplications.Toaddress this isse，thispaper proposesalowcost UAV positioning methodbasedon Real-Time Kinematic （RTK），combining multi-frequencyand multi-mode satelite signalenhancementtechnology，and introducesaPartialAmbiguityResolution（PAR）strategytoimprovepositioningauracy andstability.This method effectivelyreduces errors through thecollaborativecalculationofbase stationsandrover stations， and optimizes ambiguityresolution under constrained computing resources，therebyimproving calculation eficiency and reducing system costs.Experimental results show that，compared with traditional GNSS positioning，the proposed method achieves centimeter-levelpositionngaccuracyincomplex environments，providingan efcientandlow-costsolutionforprecise navigation and intelligent applications of UAVs in the low-altitude economy field.

Keywords： low-altitude economy; UAV; RTK; PAR; low cost; multi-frequency and multi-mode

0 引言

随着低空经济的发展，无人机在物流、测绘与农业等领域的应用对高精度定位提出了更高要求[1]。（剩余6254字）