GPS姿态及定向系统的研究与实现
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摘要
本文对GPS姿态及定向系统的理论与工程实现进行了深入的研究。
整周模糊度的解算是GPS姿态及定向系统的关键技术之一。本文根据GPS姿态
及定向系统的特点，对常规Kalman滤波算法进行了改进。在此基础上提出了两种
整周模糊度解算方法---基于寻优法的综合整周模糊度搜索算法和基于整数高斯
变换的整周模糊度快速解算方法。这两种方法均能在较短时间内解算出模糊度。为
进一步缩短模糊度解算时间，提出了利用基线长度、基于QR分解的整周模糊度解
算方法，该方法适用于基线较短的情况。针对地面上运动载体的应用情况，提出了
一种卫星失锁时整周模糊度的快速恢复算法。
周跳检测及修复是GPS姿态及定向系统的另一关键技术，本文基于故障检测的
原理，分别提出了基于双差载波相位观测量的周跳检测修复方法和基于改进的三差
观测量的周跳检测修复方法，两种方法均能在动态情况下检测并修复周跳，大大减
少了GPS姿态及定向系统重新初始化的次数。
采用Jupiter GPS OEM板研制了低成本GPS姿态系统样机，采用Allstar GPS OEM
板和GG24 GPS OEM板研制了两套高精度GPS定向系统工程样机，完成了三套系统
的硬件和软件设计，并通过实验验证了系统的性能。
In this dissertation, the theory and realization of GPS梑ased attitude
and heading system is studied.
The resolution of integer ambiguity is one important problem of
GPS梑ased attitude and heading system. In this dissertation, the general
Kalman filtering algorithm is modified according to the characteristics
of GPS梑ased attitude and heading system, and then, the optimized ambiguity
search algorithm and the ambiguity search algorithm based on Z梩ransform
is proposed. The two methods are all efficient. A kind of ambiguity search
algorithm based on the method of QRdecomposition and the fixed baseline
length is proposed, which is suitable for short baseline. Finally, a kind
of ambiguity repair methods for vehicles moving on the ground when GPS
satellite is unlocked is proposed.
The detection and repair of cycle slip is another important problem
of GPS梑ased attitude and heading system. In this dissertation, based on
theory of fault detection, the methods of detection and repair of cycle
slip using redundant double difference as measurements and using modified
triple difference as measurements is proposed respectively. The two methods
are efficient under kinematic condition and the initial time can be reduced
rapidly.
lVe developed a low cost GPS attitude system prototype based on Jupiter
GPS OEM board and two high precision GPS heading systems prototype
respectively based on Allstar and GG24 GPS OEM board. The hardware and
software of the three systems is successfully done and a lot of experiments
had been done.
整周模糊度的解算是GPS姿态及定向系统的关键技术之一。本文根据GPS姿态
及定向系统的特点，对常规Kalman滤波算法进行了改进。在此基础上提出了两种
整周模糊度解算方法---基于寻优法的综合整周模糊度搜索算法和基于整数高斯
变换的整周模糊度快速解算方法。这两种方法均能在较短时间内解算出模糊度。为
进一步缩短模糊度解算时间，提出了利用基线长度、基于QR分解的整周模糊度解
算方法，该方法适用于基线较短的情况。针对地面上运动载体的应用情况，提出了
一种卫星失锁时整周模糊度的快速恢复算法。
周跳检测及修复是GPS姿态及定向系统的另一关键技术，本文基于故障检测的
原理，分别提出了基于双差载波相位观测量的周跳检测修复方法和基于改进的三差
观测量的周跳检测修复方法，两种方法均能在动态情况下检测并修复周跳，大大减
少了GPS姿态及定向系统重新初始化的次数。
采用Jupiter GPS OEM板研制了低成本GPS姿态系统样机，采用Allstar GPS OEM
板和GG24 GPS OEM板研制了两套高精度GPS定向系统工程样机，完成了三套系统
的硬件和软件设计，并通过实验验证了系统的性能。
In this dissertation, the theory and realization of GPS梑ased attitude
and heading system is studied.
The resolution of integer ambiguity is one important problem of
GPS梑ased attitude and heading system. In this dissertation, the general
Kalman filtering algorithm is modified according to the characteristics
of GPS梑ased attitude and heading system, and then, the optimized ambiguity
search algorithm and the ambiguity search algorithm based on Z梩ransform
is proposed. The two methods are all efficient. A kind of ambiguity search
algorithm based on the method of QRdecomposition and the fixed baseline
length is proposed, which is suitable for short baseline. Finally, a kind
of ambiguity repair methods for vehicles moving on the ground when GPS
satellite is unlocked is proposed.
The detection and repair of cycle slip is another important problem
of GPS梑ased attitude and heading system. In this dissertation, based on
theory of fault detection, the methods of detection and repair of cycle
slip using redundant double difference as measurements and using modified
triple difference as measurements is proposed respectively. The two methods
are efficient under kinematic condition and the initial time can be reduced
rapidly.
lVe developed a low cost GPS attitude system prototype based on Jupiter
GPS OEM board and two high precision GPS heading systems prototype
respectively based on Allstar and GG24 GPS OEM board. The hardware and
software of the three systems is successfully done and a lot of experiments
had been done.
引文
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7．刘基余．全球定位系统原理及其应用．武汉：测绘出版社．1993年
8．吕炯兴．矩阵论．北京：航空工业出版社．1992年
9．杨位钦，顾岚．时间序列分析与动态数据建模．北京理工大学出版社．1988
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22．廖向前，黄吉顺，黄晓玲．GPS双基线载体姿态测量研究．航空学报．1998，19(5)：531-535
23．廖向前，黄吉顺．一种GPS动态相位模糊的搜索算法．电子科技大学学报．1997，26(4)：352-355
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2．袁信，郑鄂．捷联式惯性导航原理．航空专业教材编审组．1985．5
3．汪叔华．最优滤波与应用．南京航空航天大学．1993年
4．于波，陈云相，郭秀中．惯性技术．北京航空航天大学出版．1994年
5．周忠谟，易杰军，周琪．GPS卫星测量原理与应用．北京：测绘出版社．1997．1
6．王广运，郭秉义，李洪涛．差分GPS定位技术及应用．北京：电子工业出版社．1996．3
7．刘基余．全球定位系统原理及其应用．武汉：测绘出版社．1993年
8．吕炯兴．矩阵论．北京：航空工业出版社．1992年
9．杨位钦，顾岚．时间序列分析与动态数据建模．北京理工大学出版社．1988
10．费业泰．误差理论与数据处理．北京：机械工业出版社．1987年
11．杨春钧．差分GPS伪距载波相位/INS组合技术研究．南京航空航天大学博士论文．1998．4
12．冯绍军．低成本IMU/GPS组合导航系统研究．南京航空航天大学博士论文．1999．1
13．段志勇．GPS航姿系统多天线GPS/惯性组合技术研究．南京航空航天大学博士论文．2001．2
14．杨剑宏．舰载光纤陀螺捷联系统快速初始对准及GPS/SINS组合技术研究．上海交通大学博士论文．2001．2
15．张煜烽．捷联惯导／GPS误差控制技术．北京理工大学博士学位论文．2001．2
16．陈小明．高精度GPS动态定位的理论与实践．武汉测绘大学博士论文．1997．3
17．陈小明，刘基余．GPS动态载波相位测量的波数在航解算．导航．1996．12
18．施品浩．GPS定位技术的又一里程碑--RTK．导航．1994．9
19．蒋长锦．科学计算和C程序集．合肥：中国科学技术大学出版社．1998年
20．章仁为．卫星轨道姿态动力学与控制．北京航空航天大学出版社．1998．8
21．胡国辉，孟浩，袁信．差分GPS载波相位测量整周模糊度的快速求解．航空学报．1999，20(2)：127-129
22．廖向前，黄吉顺，黄晓玲．GPS双基线载体姿态测量研究．航空学报．1998，19(5)：531-535
23．廖向前，黄吉顺．一种GPS动态相位模糊的搜索算法．电子科技大学学报．1997，26(4)：352-355
24． 黄丁发,卓健成.GPS相位观测值周跳检测的小波分析法.测绘学报. 1997,26 (4) :352-357
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