双天线GPS/INS组合导航系统研究
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摘要
组合导航技术是提高导航系统整体性能的有效途径。本论文主要围绕基于载波相位的双天线GPS/INS组合导航系统,进行了理论分析、数学建模、结构仿真等研究工作。
众所周知载体的方位问题在导航中一直是难以解决的问题,特别是载体处于静态或作直线运动时。如果沿载体纵向相距一定距离放置两个GPS天线,则在载体上两个天线载波相位之间求差可确定载体的方位。论文提出了用双天线GPS信号为观测量与惯导进行姿态(二维)组合,推导了双天线、位置、速度和惯导的状态方程和观测方程,并利用仿真验证了该方案的有效性。
在飞机精密进场、飞行器空中对接、战术战略武器精确制导等场合中对定位精度要求非常高。载波相位观测量在经过双差处理后能消除绝大部分公共误差后,可以达到厘米级的精度。论文采用结合双天线GPS信号和载波相位双差为观测量的方案,推导了系统的组合方程。本方案也通过仿真验证。
载波相位应用中存在着整周模糊度的求解和周跳的检测与修复两个关键性问题,只有有效的解决了这两个问题,才能获得高精度的导航结果。在对现有方法研究的基础上,本文采用了一种基于INS数据辅助的整周模糊度解算和周跳的检测与修复方法。其简单快速,较其他的传统方法有很大的优越性。
在系统数学模型和系统噪声与量测噪声的统计特性不确切已知的情况下,应用常规卡尔曼滤波可能产生发散现象。论文采用了一种结构比较简单,实时性较强,工程上比较实用的在线估计量测噪声统计特性的自适应滤波算法。仿真结果表明,这种算法具有较强的自适应性,是一种实用而有效的滤波方法。
Integrated navigation technology can effectively improve the performance of navigation system. This paper focus on the theory analyzing, model building and simulation of two-antenna GPS/INS integrated system based on carrier phase.
The azimuth is always a difficult problem in navigation, especially when the carrier is static or makes a linear motion. The azimuth can be determined by fixing two GPS in a certain distance along the longitudinal vector and making a carrier phase double difference between them. The attitude (2-dementions) integration of using two antennas signals and INS is proposed; the state equation and observation equation of two antennas signals with position, velocity INS is deduced. The result of simulation proves the solution above is feasible.
The demand of precision such as airplane precision approach, spacecraft docking technique and strategic and tactical weapon precision guided is very high. The GPS carrier phase double difference measurements after eliminating most common errors are more accuracy and can achieve centimeter-level precision. The integration equations based on two antennas signals and double-differential carrier phase are deduced and the feasibility of the system also has been proved by the simulation.
The resolution of integer ambiguity and correction of cycle slip are the two important factors for acquiring accurate result in the application of carrier phase. Based on current research, an algorithm of integer ambiguity determination and an algorithm of detection and correction of circle slip using supplementary data of INS is presented.
The condition that system model and noise characteristic are uncertain may cause the divergence of Kalman filter. In view of the present research situation of AKF technique, an AKF algorithm for on-line estimation of the statistical feature of measurement noise, which has many advantages such as simple structure, real-time and practicable in engineering is adopted. The result shows that the algorithm is useful and adaptive with its high effectiveness and accuracy.
众所周知载体的方位问题在导航中一直是难以解决的问题,特别是载体处于静态或作直线运动时。如果沿载体纵向相距一定距离放置两个GPS天线,则在载体上两个天线载波相位之间求差可确定载体的方位。论文提出了用双天线GPS信号为观测量与惯导进行姿态(二维)组合,推导了双天线、位置、速度和惯导的状态方程和观测方程,并利用仿真验证了该方案的有效性。
在飞机精密进场、飞行器空中对接、战术战略武器精确制导等场合中对定位精度要求非常高。载波相位观测量在经过双差处理后能消除绝大部分公共误差后,可以达到厘米级的精度。论文采用结合双天线GPS信号和载波相位双差为观测量的方案,推导了系统的组合方程。本方案也通过仿真验证。
载波相位应用中存在着整周模糊度的求解和周跳的检测与修复两个关键性问题,只有有效的解决了这两个问题,才能获得高精度的导航结果。在对现有方法研究的基础上,本文采用了一种基于INS数据辅助的整周模糊度解算和周跳的检测与修复方法。其简单快速,较其他的传统方法有很大的优越性。
在系统数学模型和系统噪声与量测噪声的统计特性不确切已知的情况下,应用常规卡尔曼滤波可能产生发散现象。论文采用了一种结构比较简单,实时性较强,工程上比较实用的在线估计量测噪声统计特性的自适应滤波算法。仿真结果表明,这种算法具有较强的自适应性,是一种实用而有效的滤波方法。
Integrated navigation technology can effectively improve the performance of navigation system. This paper focus on the theory analyzing, model building and simulation of two-antenna GPS/INS integrated system based on carrier phase.
The azimuth is always a difficult problem in navigation, especially when the carrier is static or makes a linear motion. The azimuth can be determined by fixing two GPS in a certain distance along the longitudinal vector and making a carrier phase double difference between them. The attitude (2-dementions) integration of using two antennas signals and INS is proposed; the state equation and observation equation of two antennas signals with position, velocity INS is deduced. The result of simulation proves the solution above is feasible.
The demand of precision such as airplane precision approach, spacecraft docking technique and strategic and tactical weapon precision guided is very high. The GPS carrier phase double difference measurements after eliminating most common errors are more accuracy and can achieve centimeter-level precision. The integration equations based on two antennas signals and double-differential carrier phase are deduced and the feasibility of the system also has been proved by the simulation.
The resolution of integer ambiguity and correction of cycle slip are the two important factors for acquiring accurate result in the application of carrier phase. Based on current research, an algorithm of integer ambiguity determination and an algorithm of detection and correction of circle slip using supplementary data of INS is presented.
The condition that system model and noise characteristic are uncertain may cause the divergence of Kalman filter. In view of the present research situation of AKF technique, an AKF algorithm for on-line estimation of the statistical feature of measurement noise, which has many advantages such as simple structure, real-time and practicable in engineering is adopted. The result shows that the algorithm is useful and adaptive with its high effectiveness and accuracy.
引文
[1]袁信,俞济祥,陈哲,导航系统,北京,航空工业出版社,1993:3~9
[2] Gai E, The Century of Inertial Navigation Technology. Aerospace Conference Proceedings, IEEE, 2000,11(1):59~60
[3]张宗麟,惯性导航与组合导航,北京,航空工业出版社,2000:20~24
[4]曾庆化,刘建业,熊智,郁丰,卫星导航系统相关技术发展动态,全球定位系统,2006,1:35~40
[5]贾东升,王飞雪,欧洲伽利略计划和新技术概述,航空电子技术,2003,34(3):7~9
[6]王惠南,GPS导航原理与应用,北京,科学出版社,2003:19~23
[7] Elliott D. Kaplan, GPS原理与应用,北京,电子工业出版社,2002:73~75
[8]秦永元,张洪钺,汪叔华,卡尔曼滤波与组合导航原理,西安,西北工业大学出版社,1998:11~15
[9]付梦印,邓志红,张继伟,Kalman滤波理论及其在导航系统中的应用,北京,科学出版社,2003:44~48
[10]李大威,卡尔曼滤波在INS/GPS组合导航中的应用研究,[硕士学位论文],太原,中北大学,2006
[11]赵伟,基于载波相位的GPS/惯性组合技术研究,[博士学位论文],南京,南京航空航天大学,2002
[12] Lee. J G, Park C G, Park H W, Multiposition alignment of strapdown inertial navigation system, IEEE Transaction on Aerospace and Electronic system, 1993,29(4):121~130
[13]周雪梅,吴简形,何昆鹏等,捷联惯性导航系统的误差分析,声学与电子工程,2003,(1): 39~41
[14] Phatak M S, Recursive method for optimum GPS satellite selection [J], IEEE Transaction of Aerospace and Electronic Systems, 2001,37(2):751~754
[15]段志勇,GPS航姿系统及多天线GPS/惯性组合技术研究,[博士学位论文],南京,南京航空航天大学,2000
[16]张军,王直,刘维亭,SINS/Two-antenna GPS组合导航系统设计及实现方案,华东船舶工业学院学报,2004,10:38~43
[17]孙道省,邹志勤,组合导航系统中自适应滤波技术研究,中国惯性技术学报,1999,6:25~29
[18]杨春钧,载波相位差分GPS/惯性组合导航,南京航空航天大学学报,2002,32(1):25~30
[19]朱志宇,刘维亭,张冰,差分GPS载波相位整周模糊度快速解算方法,测绘科学,2005,30(3):54~57
[20] Yunchun Yang, Richard T. Sharpe., L1 Backup Navigation for Dual Frequency GPS Receiver, Proceedings of ION GPS 2003, Portland, Oregon, 2003:1~6
[21] Gao Y, Li Z F., Ionosphere Effect and Modeling for Regional Area Differential GPS Network, The 11th International Technical Meeting of the Satellite Division of the Institute of Navigation, Nashville, Tennessee, 1998:91~97
[22]颜国军,基于双天线的GPS姿态测定研究与实现,[硕士学位论文],南京,南京航空航天大学,2005
[23]冯绍军,低成本IMU/GPS组合导航系统研究,[博士学位论文],南京,南京航空航天大学,1999
[24]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(6):120~123
[25] Choi Y., Chung D., VLSI Processor of Parallel Genetic Algorithm, The Second IEEE Asia Pacific Conference on ASICs, 2000,8:143~146
[26]许明,捷联姿态算法及自适应滤波在导航中的应用,[硕士学位论文],南京,南京航空航天大学,1999
[27]高为广,杨元喜,崔先强,张双成,IMU/GPS组合导航系统自适应Kalman滤波算法,武汉大学学报,2006,5:466~469
[28] J. Z. Sasiadek, Q. Wang, M. B. Zeremba, Fuzzy Adaptive Kalman Filtering for INS/GPS Data Fusion, IEEE International Symposium on Intelligent Control, Proceedings, 2000:181~186
[29]吕伟,王艳东,Sage-Husa自适应卡尔曼滤波算法在SINS初始对准中的应用研究,战术导弹控制技术,2005,3:52~55
[30] Han S, Rizos C, An instantaneous ambiguity resolution technique for medium-range GPS kinematic positioning [J], Navigation, 2000,47(1):17~31
[31] Yunchun Yang, Jay A. Farrell, Two Antennas GPS-Aided INS for Attitude Determination, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2003,11:905~918
[32]杨春钧,差分GPS伪距、载波相位/INS组合技术研究,[博士学位论文],南京,南京航空航天大学,1998
[33] Mamoun F., Abdel-Hafez, High Integrity GPS/INS Filter for Precise Relative Navigation, [Doctor],Los Angeles, University of California, 2003
[34] Hu Guohui, Feng Shaojun, Yuan Xin, Low Cost GPS/INS Carrier Phase IntegratedNavigation System, Journal of Southeast University (English Edition), 1999,6:87~91
[35] Yunchun Yang, Jay A. Farrell, High-accuracy, High-frequency Differential Carrier Phase GPS-aided low-cost INS, IEEE 2000 Position Location and Navigation Symp, San Diego, CA, 2000,4:13~16
[36]刘志俭,GPS载波相位差分技术、捷联惯性导航系统初始对准技术及其组合技术研究,[博士学位论文],长沙,国防科学技术大学,2003
[37]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,1999,3:127~129
[38]张旭,GPS载波相位定位算法研究与仿真,[硕士学位论文],哈尔滨,哈尔滨工程大学,2007
[39] Teunissen P J G, A New Method for Fast Carrier Phase Ambiguity Estimation, IEEE Position Location and Navigation Symposium, Las. Vepas, 1994:562~573
[40] Hatch R, Sharpe T., A computationally efficient ambiguity resolution technique, ION GPS, 2001:1558~1564
[41]范胜林,赵伟,袁信,整周模糊度动态快速求解,电子科技大学学报,2005,2:89~93
[42]赵伟,万德均,刘建业,一种用INS辅助GPS周跳检测和求解整周模糊度的方法,中国空间科学技术,2004,24(2):13~18
[43] Jay A. Farrell, Tony D. Givargis, Matthew J. Barth, Real-time Differential Carrier Phase GPS-Aided INS, IEEE TRANSACTIONS ONCONTROL SYSTEMS TECHNOLOGY, 2000,8:709~721
[44]刘志俭,胡小平,贺汉根,基于惯导数据的实时周跳检测和修复算法,航天控制,2003,3:13~16
[45]吴太旗,孙付平,易维勇,李海峰,GPS/INS组合导航系统的Matlab/Simulink仿真,测绘学院学报,2004,9:172~174
[2] Gai E, The Century of Inertial Navigation Technology. Aerospace Conference Proceedings, IEEE, 2000,11(1):59~60
[3]张宗麟,惯性导航与组合导航,北京,航空工业出版社,2000:20~24
[4]曾庆化,刘建业,熊智,郁丰,卫星导航系统相关技术发展动态,全球定位系统,2006,1:35~40
[5]贾东升,王飞雪,欧洲伽利略计划和新技术概述,航空电子技术,2003,34(3):7~9
[6]王惠南,GPS导航原理与应用,北京,科学出版社,2003:19~23
[7] Elliott D. Kaplan, GPS原理与应用,北京,电子工业出版社,2002:73~75
[8]秦永元,张洪钺,汪叔华,卡尔曼滤波与组合导航原理,西安,西北工业大学出版社,1998:11~15
[9]付梦印,邓志红,张继伟,Kalman滤波理论及其在导航系统中的应用,北京,科学出版社,2003:44~48
[10]李大威,卡尔曼滤波在INS/GPS组合导航中的应用研究,[硕士学位论文],太原,中北大学,2006
[11]赵伟,基于载波相位的GPS/惯性组合技术研究,[博士学位论文],南京,南京航空航天大学,2002
[12] Lee. J G, Park C G, Park H W, Multiposition alignment of strapdown inertial navigation system, IEEE Transaction on Aerospace and Electronic system, 1993,29(4):121~130
[13]周雪梅,吴简形,何昆鹏等,捷联惯性导航系统的误差分析,声学与电子工程,2003,(1): 39~41
[14] Phatak M S, Recursive method for optimum GPS satellite selection [J], IEEE Transaction of Aerospace and Electronic Systems, 2001,37(2):751~754
[15]段志勇,GPS航姿系统及多天线GPS/惯性组合技术研究,[博士学位论文],南京,南京航空航天大学,2000
[16]张军,王直,刘维亭,SINS/Two-antenna GPS组合导航系统设计及实现方案,华东船舶工业学院学报,2004,10:38~43
[17]孙道省,邹志勤,组合导航系统中自适应滤波技术研究,中国惯性技术学报,1999,6:25~29
[18]杨春钧,载波相位差分GPS/惯性组合导航,南京航空航天大学学报,2002,32(1):25~30
[19]朱志宇,刘维亭,张冰,差分GPS载波相位整周模糊度快速解算方法,测绘科学,2005,30(3):54~57
[20] Yunchun Yang, Richard T. Sharpe., L1 Backup Navigation for Dual Frequency GPS Receiver, Proceedings of ION GPS 2003, Portland, Oregon, 2003:1~6
[21] Gao Y, Li Z F., Ionosphere Effect and Modeling for Regional Area Differential GPS Network, The 11th International Technical Meeting of the Satellite Division of the Institute of Navigation, Nashville, Tennessee, 1998:91~97
[22]颜国军,基于双天线的GPS姿态测定研究与实现,[硕士学位论文],南京,南京航空航天大学,2005
[23]冯绍军,低成本IMU/GPS组合导航系统研究,[博士学位论文],南京,南京航空航天大学,1999
[24]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(6):120~123
[25] Choi Y., Chung D., VLSI Processor of Parallel Genetic Algorithm, The Second IEEE Asia Pacific Conference on ASICs, 2000,8:143~146
[26]许明,捷联姿态算法及自适应滤波在导航中的应用,[硕士学位论文],南京,南京航空航天大学,1999
[27]高为广,杨元喜,崔先强,张双成,IMU/GPS组合导航系统自适应Kalman滤波算法,武汉大学学报,2006,5:466~469
[28] J. Z. Sasiadek, Q. Wang, M. B. Zeremba, Fuzzy Adaptive Kalman Filtering for INS/GPS Data Fusion, IEEE International Symposium on Intelligent Control, Proceedings, 2000:181~186
[29]吕伟,王艳东,Sage-Husa自适应卡尔曼滤波算法在SINS初始对准中的应用研究,战术导弹控制技术,2005,3:52~55
[30] Han S, Rizos C, An instantaneous ambiguity resolution technique for medium-range GPS kinematic positioning [J], Navigation, 2000,47(1):17~31
[31] Yunchun Yang, Jay A. Farrell, Two Antennas GPS-Aided INS for Attitude Determination, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2003,11:905~918
[32]杨春钧,差分GPS伪距、载波相位/INS组合技术研究,[博士学位论文],南京,南京航空航天大学,1998
[33] Mamoun F., Abdel-Hafez, High Integrity GPS/INS Filter for Precise Relative Navigation, [Doctor],Los Angeles, University of California, 2003
[34] Hu Guohui, Feng Shaojun, Yuan Xin, Low Cost GPS/INS Carrier Phase IntegratedNavigation System, Journal of Southeast University (English Edition), 1999,6:87~91
[35] Yunchun Yang, Jay A. Farrell, High-accuracy, High-frequency Differential Carrier Phase GPS-aided low-cost INS, IEEE 2000 Position Location and Navigation Symp, San Diego, CA, 2000,4:13~16
[36]刘志俭,GPS载波相位差分技术、捷联惯性导航系统初始对准技术及其组合技术研究,[博士学位论文],长沙,国防科学技术大学,2003
[37]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,1999,3:127~129
[38]张旭,GPS载波相位定位算法研究与仿真,[硕士学位论文],哈尔滨,哈尔滨工程大学,2007
[39] Teunissen P J G, A New Method for Fast Carrier Phase Ambiguity Estimation, IEEE Position Location and Navigation Symposium, Las. Vepas, 1994:562~573
[40] Hatch R, Sharpe T., A computationally efficient ambiguity resolution technique, ION GPS, 2001:1558~1564
[41]范胜林,赵伟,袁信,整周模糊度动态快速求解,电子科技大学学报,2005,2:89~93
[42]赵伟,万德均,刘建业,一种用INS辅助GPS周跳检测和求解整周模糊度的方法,中国空间科学技术,2004,24(2):13~18
[43] Jay A. Farrell, Tony D. Givargis, Matthew J. Barth, Real-time Differential Carrier Phase GPS-Aided INS, IEEE TRANSACTIONS ONCONTROL SYSTEMS TECHNOLOGY, 2000,8:709~721
[44]刘志俭,胡小平,贺汉根,基于惯导数据的实时周跳检测和修复算法,航天控制,2003,3:13~16
[45]吴太旗,孙付平,易维勇,李海峰,GPS/INS组合导航系统的Matlab/Simulink仿真,测绘学院学报,2004,9:172~174