基于GNSS的新型位姿一体化确定技术研究

发布时间：2018-08-02 20:43

【摘要】：基于GNSS相对定位,具有低成本,全天候,高精度等优点,在陆、海、空、天领域得到了广泛的应用。同时,基于GNSS姿态确定相比于其它现代姿态测量设备而言,具有价格低廉、维护成本低,且无累计误差等优点,是当前空天导航系统中重点的研究领域。然而,不管是基于GNSS相对定位系统,还是基于GNSS姿态测量系统,通常都是分开处理的。这种分而治之的方式没有考虑到平台和平台之间的基线约束条件,限制了定位和定姿精度的提高。本文深入研究平台多基线限制对定位和定姿的影响,通过对基线限制信息的有效利用,以及综合利用定位和定姿模糊度信息,在提高相对定位精度的同时,提高姿态输出精度。首先,在数据预处理部分,重新设计了天线构型,解决了单平台姿态输出某一姿态误差显著大于另两个姿态误差的问题。同时改进了周跳探测与修复算法,改进后的算法能够对单频、双频和三频信号进行周跳检测和修复。其次,模糊度解算性能的提高。分析了不同星座(GPS、BDS、GPS+BDS)选择对模糊度解算性能的影响。改进搜索收敛法,提高了仿射约束模型姿态模糊度解算性能。同时也分析了限制基线对非限制基线基线估计模糊度解算成功率的影响。最后,对比了AC-AM姿态确定算法、直接姿态确定算法和载波平滑伪距算法姿态输出精度的差异,由于基线限制和算法改进,其精度明显高于前两种姿态确定算法。此外还将姿态确定模块中的模糊度信息引入相对位置解算模块,仿真结果表明引入姿态模糊度信息后,相对定位的精度有了很大的提高。
[Abstract]:Based on GNSS relative positioning, it has the advantages of low cost, all-weather, high precision, and has been widely used in land, sea, air and sky fields. At the same time, compared with other modern attitude measurement devices, attitude determination based on GNSS has the advantages of low price, low maintenance cost and no accumulated error. However, whether it is based on GNSS relative positioning system or based on GNSS attitude measurement system, it is usually handled separately. This divide-and-conquer approach does not take into account the baseline constraints between the platform and the platform, which limits the accuracy of positioning and attitude determination. In this paper, the effect of multi-baseline limitation on positioning and attitude determination is deeply studied. Through the effective use of baseline restriction information and the comprehensive use of location and attitude ambiguity information, the relative positioning accuracy is improved and the attitude output accuracy is improved at the same time. Firstly, in the part of data preprocessing, the antenna configuration is redesigned to solve the problem that the error of one attitude output from a single platform is significantly larger than that of the other two. At the same time, the cycle slip detection and repair algorithm is improved. The improved algorithm can detect and repair the cycle slip of single frequency, double frequency and three frequency signals. Secondly, the ambiguity resolution performance is improved. The influence of different constellations (GPS BDS BDS) on ambiguity resolution is analyzed. The search convergence method is improved to improve the solution performance of affine constraint model attitude ambiguity. At the same time, the effect of restricted baseline on the success rate of ambiguity resolution in unconstrained baseline estimation is analyzed. Finally, the difference of attitude output accuracy between AC-AM attitude determination algorithm, direct attitude determination algorithm and carrier smoothing pseudo-range algorithm is compared. Because of the baseline limitation and the improvement of the algorithm, the accuracy is obviously higher than that of the first two attitude determination algorithms. In addition, the ambiguity information in the attitude determination module is introduced into the relative position calculation module. The simulation results show that the precision of relative positioning has been greatly improved with the introduction of the attitude ambiguity information.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V249.3;V448.2

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