扩展GPS用于卫星状态的整体测量
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摘要
本论文主要论述了利用星载伪距、载波相位观测值(含GPS和扩展GPS)进行编队星座运动状态(位置、姿态和钟差)整体解算的有关问题。
具体研究内容包括：
1)利用各历元连续的伪距测量进行绝对定位、定时，利用前后历元连续有偏载波相位测量进行相对定位、定时，以及利用多个时刻绝对和相对定位、定时结果进行高精度整体绝对定位、定时；
2)利用GPS载波相位进行单星定姿及整周模糊度解算；
3)针对利用GPS整体解算编队星座运动状态时，可见GPS卫星少且载波相位星间差分整周模糊度难以高精度、快速确定的问题，研究了利用扩展GPS进行编队星座星间相对状态的整体解算。
本论文共分四章。第一章为绪论，简单介绍了研究工作的背景以及意义、方法和内容。第二章介绍了利用GPS进行单星定位、定时的有关问题。第三章讨论了利用GPS载波相位进行单星定姿及整周模糊度解算的有关问题。第四章以三星编队星座为例，讨论利用扩展的高精度星间伪距观测进行星间相对位置、姿态和时间参数确定的一些问题，包括：坐标系、独立参数的选取、观测方程的建立和星座状态的转换等。在第二、三和四章中分别进行了数值仿真和分析。最后对论文研究工作进行了总结和展望。
In the case of the formation flying constellation,the paper discusses some problems about the determination of states as a whole,which include position,attitude and time,by using pseudo-ranging and carrier phase of onboard GPS or pseudolites.
The researches are as follows.
I. First step is absolute positioning and timing at single epoch by using successive pseudo-ranging measurements. Second step is relative positioning and timing by using successive measurements of continuous but biased carrier phase. Last step is overall adjustment by using multi-epoch absolute and relative results of positioning and timing,in order to improve precision of positioning and timing.
II. Some problems about attitude determination and integrity ambiguity resolving by using GPS carrier phase are discussed.
III. Because the number of GPS satellites in sight is little and integrity ambiguity of carrier phase difference inter-satellite is difficult to be determined fast when using GPS to resolve states of formation flying constellation as a whole,the paper uses onboard pseudolites to determine relative states of inter-satellite.
The paper consists of four chapters. In the first chapter,background,significance,method and contents of the researches are introduced. In the second chapter,it is discussed that some problems about positioning and timing by using GPS. The third chapter involves some problems on attitude determination and integrity ambiguity resolving. Using three formation flying satellites for an earth observation as an example,the forth chapter contains some problems about determination of inter-satellite position,attitude and time,by using high precise pseudo-ranging observation onboard pseudolites. The problems are the selecting of coordinate system and independent state parameters,the setting of observation equations,and the conversion of constellation's states. In the second,third and forth chapters,some numerical simulations and analyses are given. Lastly,a summary and expectation for paper work are listed.
具体研究内容包括：
1)利用各历元连续的伪距测量进行绝对定位、定时，利用前后历元连续有偏载波相位测量进行相对定位、定时，以及利用多个时刻绝对和相对定位、定时结果进行高精度整体绝对定位、定时；
2)利用GPS载波相位进行单星定姿及整周模糊度解算；
3)针对利用GPS整体解算编队星座运动状态时，可见GPS卫星少且载波相位星间差分整周模糊度难以高精度、快速确定的问题，研究了利用扩展GPS进行编队星座星间相对状态的整体解算。
本论文共分四章。第一章为绪论，简单介绍了研究工作的背景以及意义、方法和内容。第二章介绍了利用GPS进行单星定位、定时的有关问题。第三章讨论了利用GPS载波相位进行单星定姿及整周模糊度解算的有关问题。第四章以三星编队星座为例，讨论利用扩展的高精度星间伪距观测进行星间相对位置、姿态和时间参数确定的一些问题，包括：坐标系、独立参数的选取、观测方程的建立和星座状态的转换等。在第二、三和四章中分别进行了数值仿真和分析。最后对论文研究工作进行了总结和展望。
In the case of the formation flying constellation,the paper discusses some problems about the determination of states as a whole,which include position,attitude and time,by using pseudo-ranging and carrier phase of onboard GPS or pseudolites.
The researches are as follows.
I. First step is absolute positioning and timing at single epoch by using successive pseudo-ranging measurements. Second step is relative positioning and timing by using successive measurements of continuous but biased carrier phase. Last step is overall adjustment by using multi-epoch absolute and relative results of positioning and timing,in order to improve precision of positioning and timing.
II. Some problems about attitude determination and integrity ambiguity resolving by using GPS carrier phase are discussed.
III. Because the number of GPS satellites in sight is little and integrity ambiguity of carrier phase difference inter-satellite is difficult to be determined fast when using GPS to resolve states of formation flying constellation as a whole,the paper uses onboard pseudolites to determine relative states of inter-satellite.
The paper consists of four chapters. In the first chapter,background,significance,method and contents of the researches are introduced. In the second chapter,it is discussed that some problems about positioning and timing by using GPS. The third chapter involves some problems on attitude determination and integrity ambiguity resolving. Using three formation flying satellites for an earth observation as an example,the forth chapter contains some problems about determination of inter-satellite position,attitude and time,by using high precise pseudo-ranging observation onboard pseudolites. The problems are the selecting of coordinate system and independent state parameters,the setting of observation equations,and the conversion of constellation's states. In the second,third and forth chapters,some numerical simulations and analyses are given. Lastly,a summary and expectation for paper work are listed.
引文
[1] Bradford W. Parkinson, and James J.Spilker Jr., "Global Positioning System: Theory and Applications", 1996
[2] T. Corazzini, A. Robertson, J. C. Adams, A. Has-sibi, and J. P. How, "GPS sensing for spacecraft formation flying," in Proc. of the ION GPS-97 Conference, (Kansas City, MO), Sept. 1997
[3] E. Olsen, C. -W. Park, and J. How, "3D formation flight using differential carrier-phase GPS sensors," in Proc. of the Institute of Navigation GPS-98 Conference Sept. 1998
[4] G. Purcell, D. Kuang, S. Lichten, S. Wu and L. Young, "Autonomous Formation Flyer Sensor Technology Development," Paper AAS 98-062, 21st Annual AAS Guidance and Control Conference, Breckenridge, CO, Feb. 1998
[5] Olsen, E. A., C. Park, and J. P. How, "3D Formation Flight Using Differential Carrier-Phase GPS Sensors," Proc. of the ION GPS-98 Conf., September 1998
[6] T. Corazzini and J. How, "Onboard GPS Signal Augmentation for Spacecraft Formation Flying," presented at the ION- GPS Conference, Sept 1998
[7] Eric A. Olsen, Chan-Woo Park, and Jonathan P. How, "Carrier-phase Bias Initialization for Formation Flying Vehicles with Onboard Pseudolites," Proc. of the ION GPS '99 Conf., September 1999
[8] 林来兴等．微小卫星编队飞行及应用论文集．北京：国家高技术航天领域专家委员会微小卫星技术组，2000
[9] 徐绍铨等．GPS测量原理及应用．武汉：武汉测绘科技大学出版社，1998
[10] 刘大杰等．全球定位系统(GPS)的原理与数据处理．上海：同济大学出版社，1996
[11] 袁建平等．GPS在飞行器定位导航中的应用．西安：西北工业大学出版社，2000
[12] 王解先等．GPS精密定轨定位．上海：同济大学出版社，1997
[13] 李洪涛等．GPS应用程序设计．北京：科学出版社，2000
[14] 邓巍巍等．Visual Fortran编程指南．北京：人民邮电出版社，2000
[15] 刘大杰等．大地坐标转换与GPS控制网平差计算及软件系统．上海：同济大学出版社，1997
[16] 袁驷等．Fortran 90编程指南．北京：高等教育出版社，2000
[17] 杨珏等．Mathematica应用指南．北京：人民邮电出版社，1999
[18] 郗晓宁等．利用星载GPS伪码测距进行小卫星星座的整网定位．长沙：国防科技大学学报，No．6 1998
[19]王广运等．差分GPS定位技术与应用．北京：电子工业出版社，1996
[20]张守信．GPS卫星测量定位理论与应用．长沙：国防科技大学出版社，1996
[21]许其凤．GPS卫星导航与精密定位．北京：解放军出版社，1992
[22]袁信等．导航系统．北京：航空工出版社，1993
[23]樊功瑜等．误差理论与测量平差．上海：同济大学出版社，1998
[24]王沫然等．Matlab 5．X与科学计算．北京：清华大学出版社，2000
[25]薛定宇等．控制系统计算机辅助设计—Matlab语言及应用．北京：清华大学出版社，1996
[26]曹彬等．概率论与数理统计．哈尔滨：哈尔滨工业大学出版社，1996
[27]黄维彬．近代平差理论及其应用．北京：解放军出版社，1992
[28]张宜华等．精通Matlab 5．北京：清华大学出版社，1999
[29]徐明．Fortran PowerStation4．0基础教程．北京：清华大学出版社，2000
[30]方群等．卫星定位导航基础．西安：西北工业大学出版社，1999
[31]张金槐．线性模型参数估计及其改进．长沙：国防科技大学出版社，1992
[2] T. Corazzini, A. Robertson, J. C. Adams, A. Has-sibi, and J. P. How, "GPS sensing for spacecraft formation flying," in Proc. of the ION GPS-97 Conference, (Kansas City, MO), Sept. 1997
[3] E. Olsen, C. -W. Park, and J. How, "3D formation flight using differential carrier-phase GPS sensors," in Proc. of the Institute of Navigation GPS-98 Conference Sept. 1998
[4] G. Purcell, D. Kuang, S. Lichten, S. Wu and L. Young, "Autonomous Formation Flyer Sensor Technology Development," Paper AAS 98-062, 21st Annual AAS Guidance and Control Conference, Breckenridge, CO, Feb. 1998
[5] Olsen, E. A., C. Park, and J. P. How, "3D Formation Flight Using Differential Carrier-Phase GPS Sensors," Proc. of the ION GPS-98 Conf., September 1998
[6] T. Corazzini and J. How, "Onboard GPS Signal Augmentation for Spacecraft Formation Flying," presented at the ION- GPS Conference, Sept 1998
[7] Eric A. Olsen, Chan-Woo Park, and Jonathan P. How, "Carrier-phase Bias Initialization for Formation Flying Vehicles with Onboard Pseudolites," Proc. of the ION GPS '99 Conf., September 1999
[8] 林来兴等．微小卫星编队飞行及应用论文集．北京：国家高技术航天领域专家委员会微小卫星技术组，2000
[9] 徐绍铨等．GPS测量原理及应用．武汉：武汉测绘科技大学出版社，1998
[10] 刘大杰等．全球定位系统(GPS)的原理与数据处理．上海：同济大学出版社，1996
[11] 袁建平等．GPS在飞行器定位导航中的应用．西安：西北工业大学出版社，2000
[12] 王解先等．GPS精密定轨定位．上海：同济大学出版社，1997
[13] 李洪涛等．GPS应用程序设计．北京：科学出版社，2000
[14] 邓巍巍等．Visual Fortran编程指南．北京：人民邮电出版社，2000
[15] 刘大杰等．大地坐标转换与GPS控制网平差计算及软件系统．上海：同济大学出版社，1997
[16] 袁驷等．Fortran 90编程指南．北京：高等教育出版社，2000
[17] 杨珏等．Mathematica应用指南．北京：人民邮电出版社，1999
[18] 郗晓宁等．利用星载GPS伪码测距进行小卫星星座的整网定位．长沙：国防科技大学学报，No．6 1998
[19]王广运等．差分GPS定位技术与应用．北京：电子工业出版社，1996
[20]张守信．GPS卫星测量定位理论与应用．长沙：国防科技大学出版社，1996
[21]许其凤．GPS卫星导航与精密定位．北京：解放军出版社，1992
[22]袁信等．导航系统．北京：航空工出版社，1993
[23]樊功瑜等．误差理论与测量平差．上海：同济大学出版社，1998
[24]王沫然等．Matlab 5．X与科学计算．北京：清华大学出版社，2000
[25]薛定宇等．控制系统计算机辅助设计—Matlab语言及应用．北京：清华大学出版社，1996
[26]曹彬等．概率论与数理统计．哈尔滨：哈尔滨工业大学出版社，1996
[27]黄维彬．近代平差理论及其应用．北京：解放军出版社，1992
[28]张宜华等．精通Matlab 5．北京：清华大学出版社，1999
[29]徐明．Fortran PowerStation4．0基础教程．北京：清华大学出版社，2000
[30]方群等．卫星定位导航基础．西安：西北工业大学出版社，1999
[31]张金槐．线性模型参数估计及其改进．长沙：国防科技大学出版社，1992