GPS多普勒差分测速算法
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摘要
全球卫星定位系统(GPS)多普勒单点测速技术是单GPS天线测姿技术的核心,但其测速精度易受卫星速度误差、卫星钟漂、电离层延迟、对流层延迟以及飞行器位置误差等因素的影响。针对上述问题,提出结合GPS地面基准站卫导观测数据,对机载GPS多普勒观测量进行双差处理,从而得到GPS多普勒双差方程。求解该双差方程,能够有效缓解上述不利因素的影响,得到精度更好的飞行器实时速度。半实物仿真计算结果与跑车实验计算结果都表明多普勒差分测速精度大幅优于多普勒单点测速精度。
The Global Positioning System( GPS) Doppler single-point velocity determination algorithm is the core of the single-antenna GPS attitude determination technology.However the velocity estimation accuracy of the above algorithm is affected by satellite velocity errors,satellite clock drifts,ionospheric delays,atmospheric delays,and aircraft location errors,etc. For these problems,the aircraft GPS Doppler observations are double-difference processed by combining the GPS observations of the ground reference station,and thereby the GPS Doppler double difference equation is obtained. By solving this equation,the above-mentioned adverse factors can be mitigated,and a more accurate real time velocity of the aircraft can be obtained.The computation results of the semi-physical simulation and the dynamic car test indicate that the velocity estimation accuracy of the suggested GPS Doppler double difference velocity determination algorithm is more precise than that of the GPS Doppler single-point velocity determination algorithm.
The Global Positioning System( GPS) Doppler single-point velocity determination algorithm is the core of the single-antenna GPS attitude determination technology.However the velocity estimation accuracy of the above algorithm is affected by satellite velocity errors,satellite clock drifts,ionospheric delays,atmospheric delays,and aircraft location errors,etc. For these problems,the aircraft GPS Doppler observations are double-difference processed by combining the GPS observations of the ground reference station,and thereby the GPS Doppler double difference equation is obtained. By solving this equation,the above-mentioned adverse factors can be mitigated,and a more accurate real time velocity of the aircraft can be obtained.The computation results of the semi-physical simulation and the dynamic car test indicate that the velocity estimation accuracy of the suggested GPS Doppler double difference velocity determination algorithm is more precise than that of the GPS Doppler single-point velocity determination algorithm.
引文
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[3]蔡青春,王惠南.单天线GPS接收机载体姿态测定分析[J].南京理工大学学报(自然科学版),2002,26(6):585-589.CAI Qingchun,WANG Huinan. Attitude determination with single-antenna GPS receiver[J]. Journal of Nanjing University of Science and Technology(Natural Science Edition),2002,26(6):585-589.(in Chinese)
[4]王辉.GPS单天线测姿系统研究[D].南京:南京航空航天大学,2005.WANG Hui.Research on using single-antenna GPS to determine the attitudes of aircraft[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2005.(in Chinese)
[5]谢钢.GPS原理与接收机设计[M].北京:电子工业出版社,2009.
[6]孙东,周凤岐,周军.基于载波相位差分GPS的多航天器编队飞行相对导航[J].弹箭与制导学报,2003(S3):364-367.SUN Dong,ZHOU Fengqi,ZHOU Jun. Relative navigation based carrier phase differential GPS for multiple spacecraft formation flying[J]. Journal of Projectiles,Rockets,Missiles and Guidance, 2003(S3):364-367.(in Chinese)
[7]李展,李晓明,杨益欢.基于RTK的系统飞行校验研究[J].计算机测量与控制,2012,20(5):1318-1320.LI Zhan,LI Xiaoming,YANG Yihuan.Research on flight inspection of ILS Based on RTK[J]. Computer Measurement and Control,2012,20(5):1318-1320.(in Chinese)
[8]花江.基于差分GPS的战术数据链高精度时间同[J].电讯技术,2016,56(4):389-393.HUA Jiang. High-precision time synchronization for collaborative tactical data link via differential GPS[J].Telecommunication Engineering,2016,56(4):389-393.(in Chinese)
[9]董新民,徐跃鉴,陈博.自动空中加油技术研究进展与关键问题[J].空军工程大学学报(自然科学版),2008,9(5):1-5.DONG Xinmin,XU Yuejian,CHEN Bo.Progress and challenges in automatic aerial refueling[J]. Journal of Air Force Engineering University(Natural Science Edition),2008,9(5):1-5.(in Chinese)
[10]祝燕华,蔡体菁,李春.提高GPS精度的差分定位定速算法[J].传感器与微系统,2012,31(11):122-124.ZHU Yanhua,CAI Tijing,LI Chun.Differential algorithm for improving precision of GPS positioning and velocity determination[J]. Transducer and Microsystem Technologies,2012,31(11):122-124.(in Chinese)
[11]李明富,熊杰,安毅.厘米级“北斗”相对定位的试验验证[J].电讯技术,2017,57(7):756-761.LI Mingfu,XIONG Jie,AN Yi. Experimental demonstration of centimeter-level BDS relative positioning[J].Telecommunication Engineering,2017,57(7):756-761.(in Chinese)
[12]熊杰,安毅,康荣雷,等.利用Kalman滤波修正卫星导航差分RTK定位坐标[J].电讯技术,2017,57(6):666-671.XIONG Jie,AN Yi,KANG Ronglei,et al. Adjusting differential GNSS RTK positioning coordinate via Kalman filtering[J]. Telecommunication Engineering,2017,57(6):666-671.(in Chinese)