基线约束的GPS单历元定向技术研究与实现

发布时间：2019-02-26 17:11

【摘要】：卫星定向是现代导航中的主要定向方式之一，具有成本低、初始化时间短、精度高、无积累误差、不受地理位置影响等优点。利用GPS载波相位技术来测量载体的航向角的研究已成为一个热门方向。本文基于对载波相位相对定位理论的分析，研究了单历元下单频和双频载波相位信息定向理论和算法，设计并实现了基线约束的单历元单频和双频的定向系统。具体内容如下：系统论述了GPS伪距和载波相位的测量原理和影响GPS定向精度的误差因素，推导了GPS定向中的双差测量方程。此外，本文还探讨了利用双天线定向的基本理论以及方向角求解中的问题。文中提出在基于双差伪距的基础上利用基线约束的最小二乘法搜索法来求解整周模糊度。针对单频接收机，采用确定基线长度并用低精度倾角传感器辅助的方法来计算双差整周模糊度的可能解；双频接收机中，，采用确定基线长度和利用宽巷方法计算整周模糊度可能解。算法采用单历元解算，规避载波相位周跳问题，极大地减小初始化时间。最终通过残差约束的方法确定整周模糊度，从而确定载体航向角。根据提出的基线约束最小二乘法搜索法原理，在Vx-Works环境下利用PC/104PMI2编写了GPS卫星数据采集和定向解算的程序，实现了对航向角实时的测量。此外，根据实际情况中遇到的问题，分析探讨了对选取主星和模糊度确认方面的内容。最后，根据文中的方法，进行多次定向实验。其静态和动态试验结果均表明：该方法快速有效，可以实现实时定向，其定向精度小于0.2°/基线长度，定向成功率大于99%。
[Abstract]:Satellite orientation is one of the main orientation methods in modern navigation, which has the advantages of low cost, short initialization time, high precision, no accumulated error, and not affected by geographical position. Using GPS carrier phase technology to measure the heading angle of carrier has become a hot direction. Based on the analysis of the relative positioning theory of carrier phase, this paper studies the theory and algorithm of single-frequency and double-frequency carrier phase information orientation in a single epoch, and designs and implements a single-epoch single-frequency and two-frequency orientation system with baseline constraints. The main contents are as follows: the measuring principle of GPS pseudo-range and carrier phase and the error factors affecting GPS orientation accuracy are systematically discussed. The double-difference measurement equation in GPS orientation is derived. In addition, this paper also discusses the basic theory of dual-antenna orientation and the problem of direction angle solution. In this paper, based on the double-difference pseudo-range, the least square search method with baseline constraints is proposed to solve the integer ambiguity. For single-frequency receiver, the possible solution of double-difference integer ambiguity is calculated by using the method of determining baseline length and using low-precision inclination sensor. In the dual-frequency receiver, the possible solution of integer ambiguity is calculated by determining the baseline length and using the wide lane method. The algorithm uses a single epoch algorithm to avoid the carrier phase cycle-slip problem and greatly reduce the initialization time. Finally, the integer ambiguity is determined by residual constraint, thus the heading angle of the carrier is determined. According to the principle of baseline constrained least squares search method, the program of GPS satellite data acquisition and directional calculation is programmed by using PC/104PMI2 in Vx-Works environment, and the real-time measurement of heading angle is realized. In addition, according to the problems encountered in the actual situation, the selection of the main star and the identification of ambiguity are analyzed and discussed. Finally, according to the method in the paper, many directional experiments are carried out. The results of both static and dynamic tests show that this method is fast and effective and can realize real-time orientation. The orientation accuracy is less than 0.2 掳/ baseline length and the success rate of orientation is more than 99%.
【学位授予单位】：上海交通大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P228.4

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