载体机动条件下导航接收机滤波解算技术研究

发布时间：2018-03-09 05:17

本文选题：机动　切入点：交互式多模型　出处：《国防科学技术大学》2014年硕士论文　论文类型：学位论文

【摘要】：导航滤波解算技术作为卫星导航后端处理技术中的重要环节,其性能由运动方程和观测方程共同决定。在载体机动条件下,目标运动状态多变,而且受环境影响会出现弱信号、遮挡严重等现象,这时候观测量质量下降、载体运动状态估计不足等问题充分暴露,都将直接导致接收机最终定位精度下降。针对上述问题,围绕载体机动条件下用户对接收机定位稳健性需求,论文从北斗导航观测量误差特性分析与抑制、多模型滤波解算和多普勒辅助定位三个方面展开研究。具体研究内容如下:第一部分针对多径误差和电离层误差受环境影响多变并对最终定位精度起到主要影响这一问题,利用北斗系统在轨卫星实测数据分析了一周内GEO、IGSO、MEO卫星多径误差变化特征,为接收机多径误差建模提供参考;分析了不同电离层修正方法在一天内不同时段的精度以及不同电离层误差修正方法对定位结果的影响,为接收机处理电离层延迟误差提供参考。第二部分针对传统交互式多模型算法在机动转换时刻跟踪性能较差问题,提出基于传统交互式多模型的改进算法。在传统算法基础上引入强跟踪滤波器(STF),可以提高载体在机动转换时刻滤波解算的稳定性。仿真实验结果表明,相比于传统交互式多模型算法,改进方法可以将水平方向误差方差从18.11m降低到13.39m。实测数据分析中,改进方法可以将水平方向误差方差从10.89m降低到7.86m。第三部分针对传统多普勒辅助伪距定位方法仅仅在速度维辅助估计,载体机动环境下存在估计不足的问题,提出了一种改进的多普勒和伪距融合的卡尔曼滤波定位算法。改进方法利用多普勒同时在位置维和速度维进行辅助定位,并利用卫星高度角对观测噪声加权。仿真实验结果表明,相对于传统方法,改进方法可以将水平方向误差方差由3.43m降低到1.56m。实测数据分析中,改进方法可以将水平误差方差从56.72m降低到39.50m。最后,对论文的研究成果及其工程意义进行了总结,并展望了下一步将要开展的相关工作。
[Abstract]:As an important part of the back-end processing technology of satellite navigation, navigation filtering solution technology is determined by the motion equation and observation equation together. Under the condition of vehicle maneuver, the moving state of the target is changeable, and the weak signal will appear under the influence of environment. Such phenomena as serious occlusion, when the quality of the observation quantity drops and the motion state estimation of the carrier are fully exposed, will directly lead to a decline in the final positioning accuracy of the receiver. According to the requirements of receiver positioning robustness under the condition of carrier maneuver, this paper analyzes and suppresses the error characteristics of Beidou navigation view. The main contents of this paper are as follows: in the first part, the multipath error and ionospheric error are influenced by the environment and have a major impact on the final positioning accuracy. Based on the measured data of Beidou satellite in orbit, the variation characteristics of multipath error of GEOOGSO MEO satellite within one week are analyzed, which provides a reference for the modeling of receiver multipath error. The accuracy of different ionospheric correction methods at different times of the day and the influence of different ionospheric error correction methods on the positioning results are analyzed. It provides a reference for the receiver to deal with the ionospheric delay error. The second part aims at the problem of poor tracking performance of the traditional interactive multi-model algorithm at the time of maneuver conversion. An improved algorithm based on traditional interactive multi-model is proposed. Based on the traditional algorithm, a strong tracking filter (STF) is introduced, which can improve the stability of the carrier's filtering solution at the time of maneuver conversion. The simulation results show that, Compared with the traditional interactive multi-model algorithm, the improved method can reduce the variance of horizontal direction error from 18.11m to 13.39m. The improved method can reduce the variance of horizontal direction error from 10.89m to 7.86m.The third part aims at the problem that the traditional Doppler aided pseudo-range positioning method is only in velocity dimension aided estimation, and there is insufficient estimation in carrier maneuvering environment. An improved Kalman filter localization algorithm based on Doppler and pseudo-range fusion is proposed. The simulation results show that the improved method can reduce the error variance of horizontal direction from 3.43 m to 1.56 m. The improved method can reduce the variance of horizontal error from 56.72m to 39.50m.Finally, the paper summarizes the research results and its engineering significance, and looks forward to the related work to be carried out in the next step.
【学位授予单位】：国防科学技术大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN965.5

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