基于GPS的单基线测姿技术的研究
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摘要
实时的获得载体平台的姿态参数一直是测控领域一个很重要的研究方向，但是传统测控方法在处理速度和成本等方面存在诸多弊端。随着GPS定位的精度的日益提高，利用GPS进行平台测姿的技术应运而生了。加上DSP技术的高速发展，实时的、正确的获得高精度的姿态参数已经成为可能。该文针对基于GPS的单基线测姿技术进行了深入的研究，为利用GPS进行空间测姿提供了理论基础和实践依据
本文首先简要的介绍了GPS系统、定位原理和相应的定位技术。并对GPS定位的数学模型做了详细的阐述。
论文的第二部分分析了单基线测姿系统的总体设计方案，并将整个系统分成四个的模块。还针对如何处理GPS接收机接收的原始数据进行了较为详细的阐述。
论文的第三部分详细的阐述了GPS单点定位技术的实现方法。单点定位主要是依靠测量卫星和接收天线间的距离，构成观测方程。最后，利用最小二乘解出天线的位置坐标。期间，为了提高定位的精度，必须对一些干扰因素进行校正，如：周跳，钟差等。
在论文的第四部分中，主要是阐述如何快速求解整周模糊度。整周模糊度是获得厘米级高精度定位的关键因素，传统的求解方式计算过于复杂，只适合于进行后处理。本文所提出了FASF联合Z变换的方法，能够在极短的时间内求解出大多数的整周模糊值。这对于实时的获得载体的姿态参数是很重要的
论文的第五部分给出了软件仿真的结果和硬件系统的设计思路，并对仿真的结果进行了分析和比较，以证明该技术的可行性。
For the field of the measurement and control system, the attitude measurement of plat is the very important embranchment all along. But the conventional attitude measurement equipment is too expensive to be put into practice. So the technology that measure the plat attitude based on GPS emerged as the time required. And with the rapid development of DSP technology, it would become true that acquire the real-time attitude parameters. This paper investigates the single-baseline attitude determination technology which is based on GPS and designs the related DSP hardware system, the result is satisfying.
Firstly, this paper introduces the GPS, the position theory and the related position technology systemically, analyzes GPS measurement model in detail.
Then, this paper gives the general design of the single-baseline attitude determination technology and divides the whole system into four modules. By the way, it also introduces the way that how to process the raw data from the GPS receiver at length.
In the third part of the paper, the implement of absolute position is introduced in detail. Some factors that would influence the accuracy of orientation were analyzed in particular, and the paper gives the related way that reduced these influences.
The fourth part of the paper discusses the way that how to compute the ambiguity quickly and correctly. In this part, a algorithm utilizing the Z-transformation augmented FASF(Fast Ambiguity Search Filter) was introduced. The algorithm can compute the most of ambiguity in a very short time. It is very useful to compute the real-time attitude parameters.
Finally, the paper gave the result of simulation and hardware design. By comparing and analyzing the result, the feasibility of the design is contenting.
In short, the paper introduces the design and the implement of the single-baseline attitude determination system from the system to module in detail. The last result is satisfying.
本文首先简要的介绍了GPS系统、定位原理和相应的定位技术。并对GPS定位的数学模型做了详细的阐述。
论文的第二部分分析了单基线测姿系统的总体设计方案，并将整个系统分成四个的模块。还针对如何处理GPS接收机接收的原始数据进行了较为详细的阐述。
论文的第三部分详细的阐述了GPS单点定位技术的实现方法。单点定位主要是依靠测量卫星和接收天线间的距离，构成观测方程。最后，利用最小二乘解出天线的位置坐标。期间，为了提高定位的精度，必须对一些干扰因素进行校正，如：周跳，钟差等。
在论文的第四部分中，主要是阐述如何快速求解整周模糊度。整周模糊度是获得厘米级高精度定位的关键因素，传统的求解方式计算过于复杂，只适合于进行后处理。本文所提出了FASF联合Z变换的方法，能够在极短的时间内求解出大多数的整周模糊值。这对于实时的获得载体的姿态参数是很重要的
论文的第五部分给出了软件仿真的结果和硬件系统的设计思路，并对仿真的结果进行了分析和比较，以证明该技术的可行性。
For the field of the measurement and control system, the attitude measurement of plat is the very important embranchment all along. But the conventional attitude measurement equipment is too expensive to be put into practice. So the technology that measure the plat attitude based on GPS emerged as the time required. And with the rapid development of DSP technology, it would become true that acquire the real-time attitude parameters. This paper investigates the single-baseline attitude determination technology which is based on GPS and designs the related DSP hardware system, the result is satisfying.
Firstly, this paper introduces the GPS, the position theory and the related position technology systemically, analyzes GPS measurement model in detail.
Then, this paper gives the general design of the single-baseline attitude determination technology and divides the whole system into four modules. By the way, it also introduces the way that how to process the raw data from the GPS receiver at length.
In the third part of the paper, the implement of absolute position is introduced in detail. Some factors that would influence the accuracy of orientation were analyzed in particular, and the paper gives the related way that reduced these influences.
The fourth part of the paper discusses the way that how to compute the ambiguity quickly and correctly. In this part, a algorithm utilizing the Z-transformation augmented FASF(Fast Ambiguity Search Filter) was introduced. The algorithm can compute the most of ambiguity in a very short time. It is very useful to compute the real-time attitude parameters.
Finally, the paper gave the result of simulation and hardware design. By comparing and analyzing the result, the feasibility of the design is contenting.
In short, the paper introduces the design and the implement of the single-baseline attitude determination system from the system to module in detail. The last result is satisfying.
引文
[1] 周忠谟 易杰军 周琪 <>， 测绘出版社 1995
[2] 徐绍棠 张华海 扬志强 等 <> ， 武汉大学出版社 1998
[3] 李洪涛 许国昌 赵洪 等 <> ， 科学出版社 1999
[4] 秦永元 汪叔华 等 <<卡尔曼滤波于组合导航原理>>， 西北大学出版社 1998
[5] 钱天爵，翟学林，<>，海潮出版社，1993
[6] Elliott.Kaplan 著 邱致和 王万义 译 <>， 电子工业出版社，2002
[7] 秦永元，张洪钺，王叔华，<<卡尔曼滤波与导航原理>>，西安：西北工业大学出版社，1998
[8] 李正良，<<矩阵理论和代数基础>>，电子科技大学出版社，1989
[9] 张贤达，保筝著 <<通信信号处理>>，国防工业出版社，2000
[10] 周金萍，王冉，吴斌 著 <>，中国电力出版社，2002
[11] 杨铁军 付毓生 张晓玲 黄顺吉著 基于DSP的GPS双天线实时姿态测量系统实现，系统工程与电子技术 已录用 ，待刊
[12] 张贵明 黄顺吉 ，SAR卫星GPS轨道和姿态测量技术研究，电子科技大学博士论文，2001
[13] Jhong Sam Lee , Leonard E.Miller 著 ，<>，人民邮电出版社，2001
[14] Bradford W.Parkinson James J.Spilker Jr.,
Global Positioning System : Theory and Applications,
The American Institude of Aeronautics and Astronautics ,Inc
[15] Cohen C.E,Parkinson B.W.,Integer Ambiguity Resolution of the GPS Carrier for Spacecraft Attitude Determination. Advances in the Astronautical Science ,1992
[16] Chen,D Fast. Ambiguity Search Filter：A Novel Conc-ept for GPS Ambiguty Resolution[M]. Proceeding of GPS-93 , The Institude of Navigation Alexandria,VA,pp 781-787
[17] Tuissen,P.J.G. The Least-Squares Ambiguity Décorrelat-ion Adjustment：A Method for Fast GPS integer A-mbiguity Estimation[J]. Journal of Geodsey,1995,Vol 70,No.1-2,pp 65-82.
[18] Guang L. Attitude Determination in a Survey Launch Using Multi-Antenna GPS Technologies[M]. Nation-al Technical Meeting,The Institute of Navigation,San Francisco,20-22 Jan 93.
[19] Stephen J. Fujikawa Spacecraft Attitude Determinatio-n by Kalman Filtering of Global Positioning System Signals[J],Journal of Guidance ,Control and Dynami-cs,1995,18(6),1365-1371.
[20] Gang Lu ,Development of a GPS Multi-Antenna System for Attitude Determination ,University of CALGARY Phd Thesis 1995
[21] NovAtel Inc. <>,Cannada ,2000
[2] 徐绍棠 张华海 扬志强 等 <
[3] 李洪涛 许国昌 赵洪 等 <
[4] 秦永元 汪叔华 等 <<卡尔曼滤波于组合导航原理>>， 西北大学出版社 1998
[5] 钱天爵，翟学林，<
[6] Elliott.Kaplan 著 邱致和 王万义 译 <
[7] 秦永元，张洪钺，王叔华，<<卡尔曼滤波与导航原理>>，西安：西北工业大学出版社，1998
[8] 李正良，<<矩阵理论和代数基础>>，电子科技大学出版社，1989
[9] 张贤达，保筝著 <<通信信号处理>>，国防工业出版社，2000
[10] 周金萍，王冉，吴斌 著 <
[11] 杨铁军 付毓生 张晓玲 黄顺吉著 基于DSP的GPS双天线实时姿态测量系统实现，系统工程与电子技术 已录用 ，待刊
[12] 张贵明 黄顺吉 ，SAR卫星GPS轨道和姿态测量技术研究，电子科技大学博士论文，2001
[13] Jhong Sam Lee , Leonard E.Miller 著 ，<
[14] Bradford W.Parkinson James J.Spilker Jr.,
Global Positioning System : Theory and Applications,
The American Institude of Aeronautics and Astronautics ,Inc
[15] Cohen C.E,Parkinson B.W.,Integer Ambiguity Resolution of the GPS Carrier for Spacecraft Attitude Determination. Advances in the Astronautical Science ,1992
[16] Chen,D Fast. Ambiguity Search Filter：A Novel Conc-ept for GPS Ambiguty Resolution[M]. Proceeding of GPS-93 , The Institude of Navigation Alexandria,VA,pp 781-787
[17] Tuissen,P.J.G. The Least-Squares Ambiguity Décorrelat-ion Adjustment：A Method for Fast GPS integer A-mbiguity Estimation[J]. Journal of Geodsey,1995,Vol 70,No.1-2,pp 65-82.
[18] Guang L. Attitude Determination in a Survey Launch Using Multi-Antenna GPS Technologies[M]. Nation-al Technical Meeting,The Institute of Navigation,San Francisco,20-22 Jan 93.
[19] Stephen J. Fujikawa Spacecraft Attitude Determinatio-n by Kalman Filtering of Global Positioning System Signals[J],Journal of Guidance ,Control and Dynami-cs,1995,18(6),1365-1371.
[20] Gang Lu ,Development of a GPS Multi-Antenna System for Attitude Determination ,University of CALGARY Phd Thesis 1995
[21] NovAtel Inc. <