High accuracy acceleration determination by using multiple GNSS reference stations

To determine the velocity and acceleration of the receivers under the requirements of high accuracy applications using global navigation satellite system (GNSS), models and algorithms based on multiple reference stations were presented in this paper. As one of the key techniques, the navigation satellites’ velocities and accelerations calculation methods were analyzed, including two cases: (1) under the requirement of real time applications, the navigation satellites’ velocities and accelerations have to be calculated by using broadcast ephemeris, the analytic expressions from three types of broadcast ephemeris, including Kepler elements, modified Kepler elements and position-velocity types, were derived, (2) under the requirement of high accuracy applications, the numerical difference method was also analyzed. Furthermore, the baseline-dependant error suppression methods based on multiple reference stations were illustrated briefly. Finally, experiments which data from multiple reference stations show that the estimation precision of this method can be improved about 15–20% compared with the single reference station real-time kinematic (RTK)-derived method both in static and kinematic cases.