基于卫星导航系统的飞行器姿态测量技术研究

发布时间：2018-12-07 09:10

【摘要】：随着世界各国航空航天事业的发展,各种高速飞行器逐渐涌现,飞行器的姿态测量成为控制系统的重要技术问题之一。传统的惯性导航系统将不能完全适应当今的飞行器控制的需求,卫星导航系统日益完善,具有全天候、无误差积累等优点,其应用领域不再局限于传统单点定位、授时等。差分技术应用作为新兴的领域,使得卫星导航接收机应用于飞行器姿态测量成为可能,是未来发展的趋势。本课题研究一种利用卫星导航接收机测量飞行器姿态的技术。通过接收卫星信号,载波相位做差分的方法,解算出高精度的基线向量,从而确定姿态角来实现姿态的测量。本文从理论出发,首先介绍了飞行器姿态测量的原理,确定利用卫星导航接收机测量飞行器姿态的方法。其次研究了飞行器姿态测量的关键技术,以导弹为例,分析飞行器姿态测量中对天线的布局、方向图、增益的要求。探讨姿态测量观测方程及载波相位差分技术,建立了飞行器姿态解算的数学模型。讨论姿态解算中载波相位整周模糊度的求解算法,详细分析LAMBDA算法求解载波相位整周模糊度的流程。并且应用MATLAB仿真,对姿态角求解算法进行验证和精度分析。阐述周跳产生的原因,研究周跳的检测和修复方法。最后根据前述理论研究,设计单基线飞行器姿态测量接收机硬件平台。射频前端采用MAX2769作为主芯片,对天线接收的射频模拟信号进行放大、滤波、下变频、AD转换等处理。数字部分采用SOC作为核心处理器,单芯片内实现基带数字信号的处理和姿态测量算法的解算,提高了系统的集成度。经过实际的对天测试,分别以基线长度为5米和5.9米测量多组数据。俯仰角和偏航角的测量误差基本在0.5度以内。
[Abstract]:With the development of aerospace industry all over the world, a variety of high-speed aircraft have emerged gradually. Attitude measurement of aircraft has become one of the important technical problems of control system. The traditional inertial navigation system will not be able to fully meet the needs of today's aircraft control. The satellite navigation system is becoming more and more perfect, with the advantages of all-weather, no error accumulation, etc. Its application fields are no longer limited to the traditional single-point positioning, timing and so on. The application of differential technology as a new field makes it possible for satellite navigation receivers to be used in attitude measurement of aircraft, which is the trend of future development. In this paper, a technique of attitude measurement using satellite navigation receiver is studied. By receiving the satellite signal and making the carrier phase difference, the high precision baseline vector is solved and the attitude angle is determined to realize the attitude measurement. In this paper, the theory of attitude measurement is introduced firstly, and the method of attitude measurement using satellite navigation receiver is determined. Secondly, the key technology of aircraft attitude measurement is studied. Taking missile as an example, the requirements of antenna layout, pattern and gain are analyzed. The attitude observation equation and carrier phase difference technique are discussed, and the mathematical model of attitude calculation for aircraft is established. The algorithm for solving carrier phase integer ambiguity in attitude resolution is discussed, and the flow of LAMBDA algorithm to solve carrier phase integer ambiguity is analyzed in detail. MATLAB simulation is used to verify and analyze the accuracy of attitude angle algorithm. The causes of cycle jump are expounded, and the detection and repair methods of cycle jump are studied. Finally, the hardware platform of attitude measurement receiver for single baseline vehicle is designed according to the above theoretical research. The RF front-end uses MAX2769 as the main chip to amplify, filter, downconversion and AD transform the RF analog signals received by the antenna. In the digital part, SOC is used as the core processor, and the baseband digital signal processing and attitude measurement algorithm are realized in a single chip, which improves the integration of the system. After the actual test, the baseline length of 5 meters and 5.9 meters were used to measure the data. The measurement error of pitch angle and yaw angle is within 0.5 degree.
【学位授予单位】：北方工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V249;TN967.1

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