基于多星座组合系统的载体姿态研究
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摘要
利用多星座组合系统的载波相位信息进行载体姿态的测量是姿态测量研究的新方向。本文对多星座组合系统在多频特性的情况下对载体的姿态测量进行了研究。分析了用多频相位观测信号进行载体姿态测量的特点,研究了利用多星座组合系统进行姿态测量的关键技术,并对其进行了改进和优化,提高了载体姿态解算的速度和精度。
本文研究了卫星导航系统测量姿态的观测模型,研究了多频载波相位组合的原理,分析了载体姿态测量系统的误差特性,为后续工作和研究提供了理论基础。
在多星座组合系统中研究了载波观测信号初始整周模糊度的解算方法。本文对TCAR方法和LAMBDA方法进行了研究,并分别仿真分析了它们各自的优缺点;结合两种方法的各自的特点提出了一种基于LAMBDA搜索原理的TCAR方法解算双差初始整周模糊度,根据TCAR方法的步骤在每一步中加入LAMBDA搜索,逐步提高测量伪距的精度,最终还原到基本载波模糊度值,能够在单历元解算出基本载波的双差模糊度值,克服了传统方法的局限性,能够快速的解算出初始整周模糊度值。针对多星座组合系统中卫星数目较多的情况,研究了一种基于方位角/仰角的选星算法,能够选出具有较好位置特性的一定数目的卫星进行单历元整周模糊度的解算,提高了模糊度算法解算的速度。
研究了多频观测条件下相位求差法与伪距/相位组合法探测与修复周跳。针对伪距/相位组合法,根据组合观测值原理,选取具有较长波长,能够消弱电离层误差,组合系数不相关的组合观测值,利用组合载波观测值与伪距采用伪距/相位组合法探测出组合长波长的周跳情况,之后还原到基本载波周跳情况。
研究了矢量姿态解算算法,主要分析研究了QUEST算法在多星座组合系统载体姿态解算中的应用。研究了单星座系统、双星座组合系统和多星座组合系统情况下单频与多频解算载体姿态的精度,并分析比较了不同情况下姿态解算的精度。针对遮挡环境中可见卫星数目较少的情况下比较了单星座解算姿态与多星座解算姿态的不同,体现出了多星座组合系统解算姿态的优越性。在以上研究的基础上,建立了多星座组合系统的载体姿态测量系统仿真平台,仿真了运动载体的航迹并验证了各个环节算法的可行性。
The research on attitude measurement using the carrier phase signals of the multi-consatellation integrated system is a new direction of studies.In this paper,attitude measurement of the carrier based on multifrequency observations of the multi-consatellation is studied.The features of attitude measurement of the carrier using multifrequency phase observation signals are summarized.The key technologies of attitude measurement based on the multi-consatellation integrated system are researched,and analyse the improvement and optimization to improve speed and precision of the attitude measurement of the carrier.
In this paper,the GNSS obversation models of the attitude measurement system are studied,the principle of the mulitfrequency carrier phase combination is summarized,and the error characteristics of the carrier attitude measurement system are analysed,this is a part which provide theory basis for the follow-up work and study.
Combined system in the constellation of multi-carrier signal is initially observed ambiguity of the solution method. This method of TCAR LAMBDA method is studied, and were simulated and analyzed their advantages and disadvantages.The methods that are used to fix the initial carrier phase ambiguity using the carrier phase obversations of the GNSS are studied.A method that is the TCAR based on the search method of the LAMBDA is advanced.The method that combinate the anvances of the TCAR and the LAMBDA is used to solve the carrier phase ambiguity of the double differenec.According to the steps of TCAR,the search method of the LAMBDA is added in every step.The measurement accuracy of pseudorang is improved gradually.The carrier phase ambiguity of the double difference can be solved in signal epoch.The method overcomes the limitations of traditional methods and can fastly calculate the initial carrier phase ambiguity.In the cases of the satellite number of the multi-constellation intergated system,A method of the satellite selection algorithm based on azimuth/elevation can choose the satellites which have better positional characterictics of a certain number satellites.Those satellites can use to calculate the carrier phase ambiguity in signal epoch and improve the ambiguity algorithm for calculating speed.
Multi-frequency observations of the phase requirements under the law and bad pseudorange / phase combination method cycle slip detection and repair.Using the method of pseudorang/phase combination to detect the cycle slip is studied.According to the multifrequeny characteristics of the mulit-consatellation intergated system, the application of the combination obversation in aspect of detection and reparation of the cycle slip is studied.According to the combination of obversation principles,choose the combination obversations which have a long wavelengths,can slack the ionosphere error and whose coefficient is irrelevant.The cycle slip of the long wavelengths obversation can be detected using the method of pseudorang/phase combination.Then the cycle slip of the basic carrier phase can be obtained according to the cycle slip of the long wavelengths obversation.
Solution of the vector attitude algorithm, the main analysis of the QUEST algorithm combined system in a multi-carrier constellation of attitude algorithm.In the event of single consatellation system,double consatellation intergated system and multi-consatellation intergated system,using the single frequency and multifrequency to calculate the attitude of the carrier is studied and the precisions of cacluating the attitude of the carrier are analysed and compared.According to keep out environment tha the visilbe satellite number is less,the difference caculating the attitude between the single consatellation system and the multi-consatellation intergated system is compared.It shows that the multi-consatellation intergated system is better than the single consatellation system.Based on the above study, a multi constellation composite systems simulation platform vector attitude algorithm, the simulation of the motion vector for all aspects of track and verify the feasibility of the algorithm.
本文研究了卫星导航系统测量姿态的观测模型,研究了多频载波相位组合的原理,分析了载体姿态测量系统的误差特性,为后续工作和研究提供了理论基础。
在多星座组合系统中研究了载波观测信号初始整周模糊度的解算方法。本文对TCAR方法和LAMBDA方法进行了研究,并分别仿真分析了它们各自的优缺点;结合两种方法的各自的特点提出了一种基于LAMBDA搜索原理的TCAR方法解算双差初始整周模糊度,根据TCAR方法的步骤在每一步中加入LAMBDA搜索,逐步提高测量伪距的精度,最终还原到基本载波模糊度值,能够在单历元解算出基本载波的双差模糊度值,克服了传统方法的局限性,能够快速的解算出初始整周模糊度值。针对多星座组合系统中卫星数目较多的情况,研究了一种基于方位角/仰角的选星算法,能够选出具有较好位置特性的一定数目的卫星进行单历元整周模糊度的解算,提高了模糊度算法解算的速度。
研究了多频观测条件下相位求差法与伪距/相位组合法探测与修复周跳。针对伪距/相位组合法,根据组合观测值原理,选取具有较长波长,能够消弱电离层误差,组合系数不相关的组合观测值,利用组合载波观测值与伪距采用伪距/相位组合法探测出组合长波长的周跳情况,之后还原到基本载波周跳情况。
研究了矢量姿态解算算法,主要分析研究了QUEST算法在多星座组合系统载体姿态解算中的应用。研究了单星座系统、双星座组合系统和多星座组合系统情况下单频与多频解算载体姿态的精度,并分析比较了不同情况下姿态解算的精度。针对遮挡环境中可见卫星数目较少的情况下比较了单星座解算姿态与多星座解算姿态的不同,体现出了多星座组合系统解算姿态的优越性。在以上研究的基础上,建立了多星座组合系统的载体姿态测量系统仿真平台,仿真了运动载体的航迹并验证了各个环节算法的可行性。
The research on attitude measurement using the carrier phase signals of the multi-consatellation integrated system is a new direction of studies.In this paper,attitude measurement of the carrier based on multifrequency observations of the multi-consatellation is studied.The features of attitude measurement of the carrier using multifrequency phase observation signals are summarized.The key technologies of attitude measurement based on the multi-consatellation integrated system are researched,and analyse the improvement and optimization to improve speed and precision of the attitude measurement of the carrier.
In this paper,the GNSS obversation models of the attitude measurement system are studied,the principle of the mulitfrequency carrier phase combination is summarized,and the error characteristics of the carrier attitude measurement system are analysed,this is a part which provide theory basis for the follow-up work and study.
Combined system in the constellation of multi-carrier signal is initially observed ambiguity of the solution method. This method of TCAR LAMBDA method is studied, and were simulated and analyzed their advantages and disadvantages.The methods that are used to fix the initial carrier phase ambiguity using the carrier phase obversations of the GNSS are studied.A method that is the TCAR based on the search method of the LAMBDA is advanced.The method that combinate the anvances of the TCAR and the LAMBDA is used to solve the carrier phase ambiguity of the double differenec.According to the steps of TCAR,the search method of the LAMBDA is added in every step.The measurement accuracy of pseudorang is improved gradually.The carrier phase ambiguity of the double difference can be solved in signal epoch.The method overcomes the limitations of traditional methods and can fastly calculate the initial carrier phase ambiguity.In the cases of the satellite number of the multi-constellation intergated system,A method of the satellite selection algorithm based on azimuth/elevation can choose the satellites which have better positional characterictics of a certain number satellites.Those satellites can use to calculate the carrier phase ambiguity in signal epoch and improve the ambiguity algorithm for calculating speed.
Multi-frequency observations of the phase requirements under the law and bad pseudorange / phase combination method cycle slip detection and repair.Using the method of pseudorang/phase combination to detect the cycle slip is studied.According to the multifrequeny characteristics of the mulit-consatellation intergated system, the application of the combination obversation in aspect of detection and reparation of the cycle slip is studied.According to the combination of obversation principles,choose the combination obversations which have a long wavelengths,can slack the ionosphere error and whose coefficient is irrelevant.The cycle slip of the long wavelengths obversation can be detected using the method of pseudorang/phase combination.Then the cycle slip of the basic carrier phase can be obtained according to the cycle slip of the long wavelengths obversation.
Solution of the vector attitude algorithm, the main analysis of the QUEST algorithm combined system in a multi-carrier constellation of attitude algorithm.In the event of single consatellation system,double consatellation intergated system and multi-consatellation intergated system,using the single frequency and multifrequency to calculate the attitude of the carrier is studied and the precisions of cacluating the attitude of the carrier are analysed and compared.According to keep out environment tha the visilbe satellite number is less,the difference caculating the attitude between the single consatellation system and the multi-consatellation intergated system is compared.It shows that the multi-consatellation intergated system is better than the single consatellation system.Based on the above study, a multi constellation composite systems simulation platform vector attitude algorithm, the simulation of the motion vector for all aspects of track and verify the feasibility of the algorithm.
引文
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[2]伍岳.第二代导航卫星系统多频数据处理理论及应用.[博士学位论文],武汉:武汉大学,2005.
[3]王克平,边少锋,等.Galileo与GPS卫星导航系统的性能比较研究.海洋测绘,2008, 28(6):74~78.
[4]田晓振.Galileo/GPS载波相位组合观测值及其在RTK定位模糊度解算中的应用研究.[硕士学位论文],长沙:中南大学,2008.
[5]熊晓欢.基于Galileo多频数据的姿态测量系统研究.[硕士学位论文],南京:南京航空航天大学,2010.
[6] (美)卡普兰(Kaplan,E.D.)等.艳红译.GPS原理与应用:第二版.北京:电子工业出版社,2007.
[7]刘建业,曾庆化,赵伟,等.导航系统理论与应用.西安:西北工业大学出版社,2010.
[8]郭斐,张小红,王明华.GNSS多系统集成的兼容性问题.测绘信息与工程,2008,33(4):13~15.
[9] D Chen,G Lachapelle.A Comparison of the FASF and Least-Square Search Algorithms for on-the-Fly Ambiguity Resolution.Navigation Vol.42 No.2 1995 371-390.
[10]唐波,朱俊岭,崔平远,等.基于LAMBDA方法的GPS整周模糊度解算研究.计算机仿真,2006,23(06):120~123.
[11] X.-W.Chang,X. Yang,T. Zhou.MLAMBDA:a modified LAMBDA method for interger least-squares estimation.DOI 10.1007/s00190-005-0004-x, J Geod(2005)79:552~565.
[12] Harris RA.Direct Resolution of Carrier-Phase Ambiguity by‘Bridging the Wavelength Gap’[EB/OL].ESA Publication“TST/60/107/RAH/World”, 2/1997.
[13] Forsell B.Derivation of Formulas for 3-Carrier-Phase-Ambiguity Resolution[EB/OL].
[14] Wentao Zhang,M. E.lizabeth Cannon.Investigation of Combined GPS/GALILEO Cascading Ambiguity Resolut- ion Schemes[A],Proceeding of the ION GPS/GNSS Satell- ite meeting[C], 2003:2599~2610.
[15]王泽民,柳景斌,等.利用Galileo多个载波观测值解算整周模糊度的方法研究.测绘通报,2006,12:1~4.
[16]郁丰,刘建业,曾庆化.伽利略卫星定位系统三载波姿态确定技术研究.宇航学报, 2006,27(6):1187~1190.
[17] Shengyue Ji,Wu Chen,Chunmei Zhao,etal.Single epoch ambiguity resolution for Galileo withthe CAR and LAMBDA methods.DOI 10.1007/s10291-007-0057-9,GPS solut 2007(11).
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