基于差分技术的载体姿态测量方法研究

发布时间：2018-12-31 16:17

【摘要】：卫星导航设备作为全球精确的定位系统的重要组成部分,其研究与应用已日渐成熟并在多个领域取得了较为显著的进展。其中,卫星导航设备姿态测量系统已逐步取代传统的惯性测姿系统或与其进行组合,实现了更好的姿态测量的效果。卫星导航设备作为军民两用的新型设备,其应用范围广泛,可用于航空,航天,航海以及陆地车载导航等。为了在现有的卫星导航条件下,达到更高精度的定位或定姿解算,本文对基于卫星导航系统的姿态测量研究具有重要的现实应用目的。本文介绍了现有的各国卫星导航系统,并在结合全球定位GPS系统的基础上研究分析了姿态解算的具体方法。传统的单基线的姿态平台只能测量载体的二维姿态角,载体的三维姿态角解算需要不共线的3个以上的天线配置2条以上的基线作为姿态测量平台。本文采用的是共面但不共线的三天线配置的姿态测量平台作为仿真研究平台。用以仿真验证本文所研究并搭建的姿态测量平台精度以及效率性,以验证其实际应用性。整个姿态测量算法是用载波相位测量值的双差模型作为解算模型,载波相位差分的解算难点在于求解载波相位的整数个数,即载波相位的整周模糊度。与此同时,本文比较了两种整周模糊度求解算法,一种是基于几何模型的整周模糊度解算方法,这种方法解算简单、高效,但不满足于高精度的姿态解算。另一种是基于改进后的LAMBDA算法的整周模糊度解算方法,这种方法解算精度高,但算法相对复杂,本文在算法去相关的反复迭代过程中做了排序调整,使搜索空间更小,解算速率更快,该算法同时满足解算过程的精度及实时性要求,具有更广泛的实际应用价值。本文的姿态测量实验数据是以RENIX格式存储的文件数据,用MATLAB搭建姿态测量解算平台,先用各天线单点定位后利用直接姿态角算法求解出初始的姿态角、基线长度以及基线偏差。然后对双差的载波相位模型线性化建模,利用最小二乘法估计出精确的姿态参数、基线长度以及基线偏差。
[Abstract]:As an important part of the global precise positioning system, the research and application of satellite navigation equipment has matured and made remarkable progress in many fields. Among them, the attitude measurement system of satellite navigation equipment has gradually replaced or combined with the traditional inertial attitude measurement system to achieve better attitude measurement effect. As a new type of military and civilian equipment, satellite navigation equipment is widely used in aviation, aerospace, navigation and land vehicle navigation. In order to achieve more accurate positioning or attitude determination under the existing satellite navigation conditions, this paper has an important practical purpose for the research of attitude determination based on satellite navigation system. In this paper, the existing satellite navigation systems in various countries are introduced, and the specific methods of attitude calculation are studied and analyzed on the basis of the global positioning GPS system. The traditional single baseline attitude platform can only measure the two-dimensional attitude angle of the carrier, and the solution of the three-dimensional attitude angle of the carrier requires more than 3 antennas with two or more baselines as the attitude measurement platform. In this paper, a three-antenna configuration attitude measurement platform with coplanar but not collinear is used as the simulation platform. The accuracy and efficiency of the attitude measurement platform studied and built in this paper are verified by simulation to verify its practical application. The whole attitude determination algorithm is based on the double difference model of carrier phase measurement value. The solution of carrier phase difference is difficult to solve the integer number of carrier phase, that is, the integer ambiguity of carrier phase. At the same time, this paper compares two integer ambiguity resolution algorithms, one is a geometric model-based integer ambiguity resolution method, this method is simple, efficient, but not satisfied with the high-precision attitude solution. The other is the integer ambiguity resolution method based on the improved LAMBDA algorithm. This method has high accuracy, but the algorithm is relatively complex. In this paper, the sorting adjustment is made in the iterative process of algorithm de-correlation, which makes the search space smaller. The algorithm meets the accuracy and real-time requirements of the solution process and has more practical application value. In this paper, the experimental data of attitude measurement are stored in RENIX format. The platform of attitude measurement is built with MATLAB. Firstly, the initial attitude angle, baseline length and baseline deviation are calculated by using the direct attitude angle algorithm. Then, the carrier phase model of double difference is linearized and the precise attitude parameters, baseline length and baseline deviation are estimated by the least square method.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN967.1

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