Research on Elimination of Gross Errors from the GNSS RTK Measurement Data Based on the Wavelet Analysis

The GNSS RTK (Global Navigation Satellite System Real-Time Kinematic) positioning system has the characteristics of high accuracy, high reliability, and high real-time performance, which has wide applications in the military and civil fields. However, GNSS RTK is susceptible to the influence of the surrounding environment in engineering practices, and its measurement data often contains gross errors, so it may be unable to meet the requirement of accurate positioning in engineering. To address this problem, we apply the wavelet analysis to GNSS RTK to remove the gross errors from the measurement data. A method based on wavelet analysis is proposed. The simulation experiments were performed, and the effects of different wavelet basis functions, decomposition layers and high-frequency layers on the gross error elimination were investigated. Our method is compared with the Kalman filter and least squares methods. The results show that the wavelet analysis method proposed in this paper has the best performance in the experiments. Finally, the proposed method was adopted to eliminate gross errors from the measurement data of a practical GNSS RTK application. The results prove the accuracy and superiority of the proposed method.