基于GNSS的飞行器姿态测量技术综述
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摘要
GNSS系统的发展提高了导航测姿的可靠性和实时性。国内外学者对利用GNSS系统导航测姿算法问题进行了大量的的研究。本文通过对GNSS系统的姿态解算算法进行较为系统的的论述,内容涉及姿态解算原理、载波相位周跳探测、载波相位整周模糊度以及姿态解算算法等方面的研究。
The development of GNSS systems has improved the reliability and real-time performance of navigation and attitude measurement. Domestic and foreign scholars have done a lot of research on the use of GNSS system navigation attitude determination algorithm. This paper makes a systematic and systematic discussion on the attitude solving algorithm of GNSS system. The content involves the research of GNSS attitude calculation principle, carrier phase cycle slip detection, carrier phase whole-circumference ambiguity and final solution algorithm.
The development of GNSS systems has improved the reliability and real-time performance of navigation and attitude measurement. Domestic and foreign scholars have done a lot of research on the use of GNSS system navigation attitude determination algorithm. This paper makes a systematic and systematic discussion on the attitude solving algorithm of GNSS system. The content involves the research of GNSS attitude calculation principle, carrier phase cycle slip detection, carrier phase whole-circumference ambiguity and final solution algorithm.
引文
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[2]Euler H J,Landau H.Fast GPS ambiguity resolution on-the-fly for real-time application[J].Proc of Sixth International Geodetic Symposium on Satellite Positioning,1992.Hatch R.(1990).Instantaneous ambiguity Resolution.IAG Symposium NO.107‘Kinematic Systems in Geodesy,Surveying,and Remote Sensing‘,Banff,Canada,Septempber10-13 KIS‘90.Springer Verlag,pp.299-308.
[3]Teunissen PJG(1993)."Least-squares estimation of the Integer GPS ambiguities.”Invited lecture,Section IV:Theory and Methodology,IAG General Mettting,Beijing,China,August 1993.
[4]宋福成.GNSS整周模糊度估计方法研究[D].中国矿业大学(北京),2016.
[5]Teunissen PJG(1995).The least-squares ambiguity decorrelation adjustment:a method for fast GPS integer ambiguity estimation.Journal of Geodesy,70:65-82.
[6]赵蓓,王飞雪,孙广富,等.LAMBDA整周模糊度解算方法中的整数Z变换算法[J].弹箭与制导学报,2008,28(3):254-257.
[7]刘朝功.三种整周模糊度搜索方法对比[J].北京测绘,2015(2):50-54.
[8]李豹,许江宁,曹可劲,等.改进LAMBDA算法实现单频GPS整周模糊度快速解算[J].中国惯性技术学报,2013(3):365-368.
[9]徐定杰,刘明凯,沈锋,等.基于自适应遗传算法的DGPS整周模糊度快速解算[J].航空学报,2013,34(2):371-377.
[10]刘慧敏,王振杰,欧吉坤.附有基线长约束的改进CLAMBDA算法研究[J].大地测量与地球动力学,2017,37(11):1187-1192.
[11]王冰.基于GNSS的实时姿态确定算法研究[D].解放军信息工程大学,2013.
[12]李世杰,李治安,庞春雷,等.基于改进型最小二乘搜索的GNSS姿态测量方法[J].重庆邮电大学学报(自然科学版),2016,28(2):187-193.
[13]郑庆晖,张育林.GPS姿态测量的载波相位整周模糊度快速解算[J].航空学报,2002,23(3):272-275.
[14]董颖略.附有平面约束的整周模糊度解算方法研究[D].西南交通大学,2016.
[15]陈万通,李小强.带有加权基线长约束的GPS/BDS单历元姿态解算算法研究[J].航空科学技术,2016(2):11-15.
[16]李世杰,李治安,庞春雷.全球卫星导航姿态测量新方法研究[J].计算机仿真,2015,32(11):110-114.
[17]张豪,杨春燕,张磊,等.一种利用GPS载波相位姿态测量的方法[J].现代防御技术,2013,41(4):35-39.
[18]赵姣姣,曲江华,袁洪.一种基于位置域的北斗快速整周模糊度确定方法[J].测绘科学技术学报,2014(3):249-252.
[19]Giorgi G,Teunissen P J G,Verhagen S,et al.Improving the GNSS attitude ambiguity success rate with the multivariate constrained LAMBDA method[J].2012.
[20]Davenport P B.A vector approach to the algebra of rotations with applications[J].1968.
[21]Bar-Itzhack I Y,Oshman Y.Attitude Determination from Vector Observations:Quaternion Estimation[J].Aerospace&Electronic Systems IEEE Transactions on,1985,AES-21(1):128-136.
[22]Markley F L.Attitude determination using vector observations and the singular value decomposition[J].Journal of the Astronautical Sciences,1988,36(3):245-258.
[23]Markley F L.Attitude Determination from Vector Observations:A Fast Optimal Matrix Algorithm[J].Journal of the Astronautical Sciences,1993,41(2):261-280.
[24]Mortari D.ESOQ:A closed-form solution to the Wahba problem[J].1997.
[25]俞建康,赵绒绒,任永超.GNSS定向方位角解算方法[J].导航定位学报,2018(1).
[26]Mendel J.Optimal filtering[J].IEEE Transactions on Automatic Control,1980,25(3):615-616.
[27]Vathsal S.Spacecraft attitude determination using a second-order nonlinear filter[J].Journal of Guidance Control&Dynamics,1987,10(6).
[28]胡士强,敬忠良.粒子滤波算法综述[J].控制与决策,2005,20(4):361-365.
[29]李建国,崔祜涛,田阳.基于乘性四元数和约束滤波的飞行器姿态估计算法[J].系统工程与电子技术,2013,35(5):1031-1036.
[30]梁军.粒子滤波算法及其应用研究[D].哈尔滨工业大学,2009.
[31]王晨,房建成.基于Unscented四元数粒子滤波的微小卫星姿态估计[J].北京航空航天大学学报,2007,33(5):552-556.
[2]Euler H J,Landau H.Fast GPS ambiguity resolution on-the-fly for real-time application[J].Proc of Sixth International Geodetic Symposium on Satellite Positioning,1992.Hatch R.(1990).Instantaneous ambiguity Resolution.IAG Symposium NO.107‘Kinematic Systems in Geodesy,Surveying,and Remote Sensing‘,Banff,Canada,Septempber10-13 KIS‘90.Springer Verlag,pp.299-308.
[3]Teunissen PJG(1993)."Least-squares estimation of the Integer GPS ambiguities.”Invited lecture,Section IV:Theory and Methodology,IAG General Mettting,Beijing,China,August 1993.
[4]宋福成.GNSS整周模糊度估计方法研究[D].中国矿业大学(北京),2016.
[5]Teunissen PJG(1995).The least-squares ambiguity decorrelation adjustment:a method for fast GPS integer ambiguity estimation.Journal of Geodesy,70:65-82.
[6]赵蓓,王飞雪,孙广富,等.LAMBDA整周模糊度解算方法中的整数Z变换算法[J].弹箭与制导学报,2008,28(3):254-257.
[7]刘朝功.三种整周模糊度搜索方法对比[J].北京测绘,2015(2):50-54.
[8]李豹,许江宁,曹可劲,等.改进LAMBDA算法实现单频GPS整周模糊度快速解算[J].中国惯性技术学报,2013(3):365-368.
[9]徐定杰,刘明凯,沈锋,等.基于自适应遗传算法的DGPS整周模糊度快速解算[J].航空学报,2013,34(2):371-377.
[10]刘慧敏,王振杰,欧吉坤.附有基线长约束的改进CLAMBDA算法研究[J].大地测量与地球动力学,2017,37(11):1187-1192.
[11]王冰.基于GNSS的实时姿态确定算法研究[D].解放军信息工程大学,2013.
[12]李世杰,李治安,庞春雷,等.基于改进型最小二乘搜索的GNSS姿态测量方法[J].重庆邮电大学学报(自然科学版),2016,28(2):187-193.
[13]郑庆晖,张育林.GPS姿态测量的载波相位整周模糊度快速解算[J].航空学报,2002,23(3):272-275.
[14]董颖略.附有平面约束的整周模糊度解算方法研究[D].西南交通大学,2016.
[15]陈万通,李小强.带有加权基线长约束的GPS/BDS单历元姿态解算算法研究[J].航空科学技术,2016(2):11-15.
[16]李世杰,李治安,庞春雷.全球卫星导航姿态测量新方法研究[J].计算机仿真,2015,32(11):110-114.
[17]张豪,杨春燕,张磊,等.一种利用GPS载波相位姿态测量的方法[J].现代防御技术,2013,41(4):35-39.
[18]赵姣姣,曲江华,袁洪.一种基于位置域的北斗快速整周模糊度确定方法[J].测绘科学技术学报,2014(3):249-252.
[19]Giorgi G,Teunissen P J G,Verhagen S,et al.Improving the GNSS attitude ambiguity success rate with the multivariate constrained LAMBDA method[J].2012.
[20]Davenport P B.A vector approach to the algebra of rotations with applications[J].1968.
[21]Bar-Itzhack I Y,Oshman Y.Attitude Determination from Vector Observations:Quaternion Estimation[J].Aerospace&Electronic Systems IEEE Transactions on,1985,AES-21(1):128-136.
[22]Markley F L.Attitude determination using vector observations and the singular value decomposition[J].Journal of the Astronautical Sciences,1988,36(3):245-258.
[23]Markley F L.Attitude Determination from Vector Observations:A Fast Optimal Matrix Algorithm[J].Journal of the Astronautical Sciences,1993,41(2):261-280.
[24]Mortari D.ESOQ:A closed-form solution to the Wahba problem[J].1997.
[25]俞建康,赵绒绒,任永超.GNSS定向方位角解算方法[J].导航定位学报,2018(1).
[26]Mendel J.Optimal filtering[J].IEEE Transactions on Automatic Control,1980,25(3):615-616.
[27]Vathsal S.Spacecraft attitude determination using a second-order nonlinear filter[J].Journal of Guidance Control&Dynamics,1987,10(6).
[28]胡士强,敬忠良.粒子滤波算法综述[J].控制与决策,2005,20(4):361-365.
[29]李建国,崔祜涛,田阳.基于乘性四元数和约束滤波的飞行器姿态估计算法[J].系统工程与电子技术,2013,35(5):1031-1036.
[30]梁军.粒子滤波算法及其应用研究[D].哈尔滨工业大学,2009.
[31]王晨,房建成.基于Unscented四元数粒子滤波的微小卫星姿态估计[J].北京航空航天大学学报,2007,33(5):552-556.