MIMU辅助卫星测姿技术研究
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摘要
姿态测量技术在地面和水面低速载体的自动控制和智能控制方面有着很强的应用需求。由于现有的姿态测量系统存在价格昂贵和容易受外界环境干扰的缺点,极大的限制了测姿技术在该方面的应用。本文研究基于微惯性测量单元(MIMU, Miniature Inertial Measurement Unit)辅助卫星的组合姿态测量技术,旨在研究精度高、成本低、抗干扰能力强的姿态测量系统,以满足实际应用需求。
本文在GPS测姿的基础上,采用MIMU对GPS信号接收进行辅助,将MIMU与卫星测姿系统进行组合,以软件接收机为研究平台,对MIMU辅助卫星测姿方法进行深入的理论研究,提出了一种MIMU辅助卫星超紧组合姿态测量方法：将MIMU与GPS进行多层次组合,采用加速度计对接收机跟踪环路进行辅助,采用陀螺仪对整周模糊度搜索进行辅助,并将二者的姿态角信息进行数据融合,得到最优姿态角估计。针对超紧组合中各系统数据更新频率不同,非线性关系多,滤波器计算量大,稳定性差的问题,提出了一种基于联邦扩展卡尔曼滤波(FEKF, Federal Extended Kalman Filter)的超紧组合测姿算法。将跟踪环路滤波器作为子滤波器,对环路跟踪误差以及加速度辅助误差进行估计。主滤波器对各子滤波器的结果进行融合,降低组合滤波器的运算量,提高滤波器的可靠性。为了降低辅助环路对MIMU精度的依赖,子滤波器采用基于EKF的MIMU辅助卫星环路跟踪算法。各子滤波器独立工作,降低观测噪声之间的相关性。采用EKF载波相位测量算法,提高载波相位测量的精度和稳定性。
MIMU辅助卫星跟踪环路能够提高跟踪精度,但会增大环路的稳定时间,造成跟踪误差与时间相关。本文提出一种时滞滤波环路跟踪算法,设计了基于时滞滤波器的MIMU辅助载波跟踪环路,将时滞滤波器引入环路,对信号进行滤波预处理。仿真结果表明,该算法可以有效减小环路的过渡时间,降低跟踪误差的时间相关性。
模糊度函数法(AFM, Ambiguity Function Method)的适应度评价容易受到观测噪声的影响,针对这一问题,本文提出一种基于载波相位观测噪声的适应度函数自适应设计方法。通过对AFM搜索过程中存在的误差进行推导,建立相应的误差模型。根据低通滤波理论,构造出基于载波观测噪声的滤波适应度函数。该函数根据观测噪声的变化,改变对搜索候选值的适应度评价,实现其对观测噪声的自适应。试验证明,该方法可以降低适应度函数对观测噪声的敏感性,提升整周模糊度的解算效率。结合超紧组合测姿的特点,推导了姿态角信息和载波相位测量精度的提升对模糊度解算的辅助效果。
提出系统的试验方法,进行了静态试验和船载试验,采用本文提出的有关算法进行离线计算,试验结果验证了本文所提出算法的优越性以及在实际测姿应用中的可行性。
Attitude determination technology is required strongly in automatic control and intelligent control of ground and aquatic low-speed vehicles. Expensive and vulnerable to the interference of the environment are shortcomings of the existing attitude determination system, which greatly limit the application of the attitude determination technology in these vehicles. In this paper, the attitude determination technology based on MIMU assisted GNSS is researched. It is the design to study the high precision, low cost, strong anti-jamming attitude determination system so as to meet the requirement of practical applications.
In this paper, the MIMU and GNSS attitude determination system are integrated on the basis of GPS attitude determination, and the MIMU is used to assist the GNSS. The method of MIMU assisted GNSS attitude determination is deeply studied in theoretical based on the research platform of software receiver. A kind of MIMU assisted GPS ultra-tight integrated attitude determination method is proposed. The MIMU and GPS are integrated in multi-levels, the receiver tracking loops are assisted by accelerometer, and the integer ambiguity search is assisted by gyroscope, data fusion is used in two attitude angles to get the optimal attitude estimation. For the ultra-tight integrated system has the problems of different data update frequency, non-linear relationship, computational burden and instability. The ultra-tight integrated attitude determination algorithm based on FEKF is proposed. The tracking loop filters are taken as sub-filters, and the error of loop and acceleration assisted are estimated by them. The results of sub-filters are fused by the primary filter to reduce the computational complexity and improve the reliability of the filter. The MIMU assisted GNSS loop tracking algorithm based on EKF is used to reduce the dependence between the assisted loop and the precision of MIMU. The sub-filters work independently, to reduce the correlation between the measurement noises. The EKF carrier phase measurement algorithm can improve accuracy and stability.
MIMU assisted GNSS tracking loop can improve tracking accuracy, but it will increase the loop settling time, resulting in the tracking error correlation with time. The time delay filter loop tracking algorithm is proposed in this paper. The MIMU assisted GNSS tracking loop based on time delay filter is designed. The time delay filter is used in the loop, and the signal is pre-filtering by it. The simulation results show that the algorithm can effectively reduce the transition time of the loop, and the time correlation of the tracking error.
The evaluation of adaptability is affected by the noise in AFM. To solve this problem, the adaptive design method for fitness function based on carrier phase measurement is presented in this paper. The error in the AFM search process is derivated, and the error model is established. The filtering fitness function is constructed based on carrier phase measurement noises according to the low-pass filter theory. This function changes the adaptability evaluation of the search candidates with the change of the carrier phase measurement noises, to adapt the observation noises. The experiment results show that this method can reduce the sensitivity of the fitness function to the observation noises, and enhance the efficiency of ambiguity solver. According to the characteristics of ultra-tight integrated attitude, the auxiliary function of attitude information and carrier phase measurement accuracy promotion on ambiguity resolution is derived.
The experiment system of MIMU/GPS ultra-tight integrated attitude determination is built. The static experiment and boat-loading experiment are done. These algorithms in this paper are calculated off-line with experiment data. The results of experiment prove that these algorithms proposed in this paper are superior and feasible in attitude measurement applications.
本文在GPS测姿的基础上,采用MIMU对GPS信号接收进行辅助,将MIMU与卫星测姿系统进行组合,以软件接收机为研究平台,对MIMU辅助卫星测姿方法进行深入的理论研究,提出了一种MIMU辅助卫星超紧组合姿态测量方法：将MIMU与GPS进行多层次组合,采用加速度计对接收机跟踪环路进行辅助,采用陀螺仪对整周模糊度搜索进行辅助,并将二者的姿态角信息进行数据融合,得到最优姿态角估计。针对超紧组合中各系统数据更新频率不同,非线性关系多,滤波器计算量大,稳定性差的问题,提出了一种基于联邦扩展卡尔曼滤波(FEKF, Federal Extended Kalman Filter)的超紧组合测姿算法。将跟踪环路滤波器作为子滤波器,对环路跟踪误差以及加速度辅助误差进行估计。主滤波器对各子滤波器的结果进行融合,降低组合滤波器的运算量,提高滤波器的可靠性。为了降低辅助环路对MIMU精度的依赖,子滤波器采用基于EKF的MIMU辅助卫星环路跟踪算法。各子滤波器独立工作,降低观测噪声之间的相关性。采用EKF载波相位测量算法,提高载波相位测量的精度和稳定性。
MIMU辅助卫星跟踪环路能够提高跟踪精度,但会增大环路的稳定时间,造成跟踪误差与时间相关。本文提出一种时滞滤波环路跟踪算法,设计了基于时滞滤波器的MIMU辅助载波跟踪环路,将时滞滤波器引入环路,对信号进行滤波预处理。仿真结果表明,该算法可以有效减小环路的过渡时间,降低跟踪误差的时间相关性。
模糊度函数法(AFM, Ambiguity Function Method)的适应度评价容易受到观测噪声的影响,针对这一问题,本文提出一种基于载波相位观测噪声的适应度函数自适应设计方法。通过对AFM搜索过程中存在的误差进行推导,建立相应的误差模型。根据低通滤波理论,构造出基于载波观测噪声的滤波适应度函数。该函数根据观测噪声的变化,改变对搜索候选值的适应度评价,实现其对观测噪声的自适应。试验证明,该方法可以降低适应度函数对观测噪声的敏感性,提升整周模糊度的解算效率。结合超紧组合测姿的特点,推导了姿态角信息和载波相位测量精度的提升对模糊度解算的辅助效果。
提出系统的试验方法,进行了静态试验和船载试验,采用本文提出的有关算法进行离线计算,试验结果验证了本文所提出算法的优越性以及在实际测姿应用中的可行性。
Attitude determination technology is required strongly in automatic control and intelligent control of ground and aquatic low-speed vehicles. Expensive and vulnerable to the interference of the environment are shortcomings of the existing attitude determination system, which greatly limit the application of the attitude determination technology in these vehicles. In this paper, the attitude determination technology based on MIMU assisted GNSS is researched. It is the design to study the high precision, low cost, strong anti-jamming attitude determination system so as to meet the requirement of practical applications.
In this paper, the MIMU and GNSS attitude determination system are integrated on the basis of GPS attitude determination, and the MIMU is used to assist the GNSS. The method of MIMU assisted GNSS attitude determination is deeply studied in theoretical based on the research platform of software receiver. A kind of MIMU assisted GPS ultra-tight integrated attitude determination method is proposed. The MIMU and GPS are integrated in multi-levels, the receiver tracking loops are assisted by accelerometer, and the integer ambiguity search is assisted by gyroscope, data fusion is used in two attitude angles to get the optimal attitude estimation. For the ultra-tight integrated system has the problems of different data update frequency, non-linear relationship, computational burden and instability. The ultra-tight integrated attitude determination algorithm based on FEKF is proposed. The tracking loop filters are taken as sub-filters, and the error of loop and acceleration assisted are estimated by them. The results of sub-filters are fused by the primary filter to reduce the computational complexity and improve the reliability of the filter. The MIMU assisted GNSS loop tracking algorithm based on EKF is used to reduce the dependence between the assisted loop and the precision of MIMU. The sub-filters work independently, to reduce the correlation between the measurement noises. The EKF carrier phase measurement algorithm can improve accuracy and stability.
MIMU assisted GNSS tracking loop can improve tracking accuracy, but it will increase the loop settling time, resulting in the tracking error correlation with time. The time delay filter loop tracking algorithm is proposed in this paper. The MIMU assisted GNSS tracking loop based on time delay filter is designed. The time delay filter is used in the loop, and the signal is pre-filtering by it. The simulation results show that the algorithm can effectively reduce the transition time of the loop, and the time correlation of the tracking error.
The evaluation of adaptability is affected by the noise in AFM. To solve this problem, the adaptive design method for fitness function based on carrier phase measurement is presented in this paper. The error in the AFM search process is derivated, and the error model is established. The filtering fitness function is constructed based on carrier phase measurement noises according to the low-pass filter theory. This function changes the adaptability evaluation of the search candidates with the change of the carrier phase measurement noises, to adapt the observation noises. The experiment results show that this method can reduce the sensitivity of the fitness function to the observation noises, and enhance the efficiency of ambiguity solver. According to the characteristics of ultra-tight integrated attitude, the auxiliary function of attitude information and carrier phase measurement accuracy promotion on ambiguity resolution is derived.
The experiment system of MIMU/GPS ultra-tight integrated attitude determination is built. The static experiment and boat-loading experiment are done. These algorithms in this paper are calculated off-line with experiment data. The results of experiment prove that these algorithms proposed in this paper are superior and feasible in attitude measurement applications.
引文
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