无人机集群作战应用卫星导航差分定位技术研究
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摘要
针对无人机集群协同感知与信号级任务协同的相对定位需求,本文分析并建立了北斗载波相位差分定位的双差模型,重点研究了无人机集群应用中动基准条件下载波相位差分处理流程及龄期误差补偿方法。通过搭建动态试验平台,开展双动态跑车试验验证,试验结果表明,载波相位差分定位精度达到厘米级,满足智能无人机集群信号级协同的相对定位需求。
Aiming at the relative position requirements of collaborative awareness and signal-level task collaboration in swarm of UAV, the paper first analyzes and establishes the double-difference model of Beidou carrier phase differencing positioning,focusing on the processing flow of moving coordinate carrier phase difference positioning and the compensation method of age error.Then set up the test platform in the vehicle and launch the experiments in the running. The test results show that the accuracy of the carrier phase differencing positioning reaches centimeter-level, which meets the signal-level relative position requirements in swarm of UAV.
Aiming at the relative position requirements of collaborative awareness and signal-level task collaboration in swarm of UAV, the paper first analyzes and establishes the double-difference model of Beidou carrier phase differencing positioning,focusing on the processing flow of moving coordinate carrier phase difference positioning and the compensation method of age error.Then set up the test platform in the vehicle and launch the experiments in the running. The test results show that the accuracy of the carrier phase differencing positioning reaches centimeter-level, which meets the signal-level relative position requirements in swarm of UAV.
引文
[1]夏林元,鲍志雄,李成钢等.北斗在高精度定位领域中的应用[M].北京:中国工信出版集团,2016.
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[3]庄皓玥,原彬,张睿.基于北斗卫星导航系统的差分定位技术性能分析[J].现代导航,2018(3):172-176.
[4]翟建勇,吕超.载波相位差分相对定位解算及性能提升研究[J].全球定位系统,2016,2:1-5.
[2]谢钢.GPS原理与接收机设计[M].北京:电子工业出版社,2009.
[3]庄皓玥,原彬,张睿.基于北斗卫星导航系统的差分定位技术性能分析[J].现代导航,2018(3):172-176.
[4]翟建勇,吕超.载波相位差分相对定位解算及性能提升研究[J].全球定位系统,2016,2:1-5.