中国区域新卫星导航定位系统（NCAPS）核心解算算法
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摘要
导航是一个技术门类的总称，是引导飞机、船舶、车辆以及个人(总称作运载体)安全、准确地沿着选定的路线，准时到达目的地的一种手段。以前，人们主要利用太阳、星星等自然天体。现在人们利用的导航系统主要有：天文导航系统、惯性导航系统、无线电导航系统三大类。其中天文导航是最早被人们利用的一种导航方法，但这种方法存在受自然条件、天气、时间制约、精度低等缺点。惯性导航是20世纪40年代发展起来的一种导航方法，由于其抗干扰性强，被广泛应用在车、船、飞机当中。无线电导航是利用无线电电波的波速进行导航的方法，根据导航基点可分为陆基导航和空基导航。陆基导航系统的代表有罗兰和奥米伽系统。空基导航系统代表有美国的GPS和俄国的GLONASS卫星导航系统。NCAPS系统是我国科学家最近提出的一种新的卫星导航系统。其主要原理是：地面控制站利用通信卫星(而不是专用的导航卫星)转发导航电文给接收机，接收机利用导航电文解算出本地位置。CAPS系统同GPS和GLONASS系统最大的区别在于NCAPS的卫星参考基点是一个虚拟点，而其实际参考基点在地面控制站上。NCAPS导航系统的最大优势是：在不影响用户定位精度的条件下，可大大降低整个系统的研制、运行和维护成本。本文详细讨论了NCAPS导航系统的原理并推导出NCAPS系统的定位方程。对于定位方程的解法，除了传统的线性化方法和最小二乘法外，还提出了利用优化算法来求解方程。最后还讨论了Kalman滤波的基本原理及在NCAPS导航系统中的应用。
Navigation is the summary of a kind of technique which is used to guide plane, ship, vehicle and individual to reach destination by specified route accurately and safely. At ancient times, people were navigated by means of sun, fixed stars, etc., while currently the common navigation systems are astronomic navigation, inertial navigation and radio navigation. Astronomic navigation is the earliest one people used, which has the default of low precision and constrained by natural condition, weather and time. Inertial navigation, emerged in 1940s, is widely used in guiding vehicles, ships and planes for its strong anti-jamming ability. Radio navigation makes use of wireless wave, which can be divided into land-based and space-based system according to the position of base point. Two typical land-based systems are LORAN and Omega, while typical space-based systems are GPS of USA and GLONASS of Russia. NCAPS is a novel satellite navigation system presented by scientists of CAS recently, which is based on the prin
ciple that the land control station transmits the navigation signals via communication satellites, other than special navigation satellites, to the NCAPS receivers, in which the received signals are processed to obtain its detailed positioning information. Compared with GPS and GLONASS, the reference base point of NCAPS is a virtual point, and the real base point is at the land-based control station. The greatest predominance of NCAPS lies in its low cost of development, operation and maintenance while relatively high positioning precision. In this paper, the principle of NCAPS is discussed in detail and its positioning equations are deduced. To solve these equations, in addition to traditional linear algorithms and LEAST SQUARES, a method using optimization algorithm is presented. Finally, fundamental principle of Kalman filter and its application in data processing of NCAPS are discussed.
Navigation is the summary of a kind of technique which is used to guide plane, ship, vehicle and individual to reach destination by specified route accurately and safely. At ancient times, people were navigated by means of sun, fixed stars, etc., while currently the common navigation systems are astronomic navigation, inertial navigation and radio navigation. Astronomic navigation is the earliest one people used, which has the default of low precision and constrained by natural condition, weather and time. Inertial navigation, emerged in 1940s, is widely used in guiding vehicles, ships and planes for its strong anti-jamming ability. Radio navigation makes use of wireless wave, which can be divided into land-based and space-based system according to the position of base point. Two typical land-based systems are LORAN and Omega, while typical space-based systems are GPS of USA and GLONASS of Russia. NCAPS is a novel satellite navigation system presented by scientists of CAS recently, which is based on the prin
ciple that the land control station transmits the navigation signals via communication satellites, other than special navigation satellites, to the NCAPS receivers, in which the received signals are processed to obtain its detailed positioning information. Compared with GPS and GLONASS, the reference base point of NCAPS is a virtual point, and the real base point is at the land-based control station. The greatest predominance of NCAPS lies in its low cost of development, operation and maintenance while relatively high positioning precision. In this paper, the principle of NCAPS is discussed in detail and its positioning equations are deduced. To solve these equations, in addition to traditional linear algorithms and LEAST SQUARES, a method using optimization algorithm is presented. Finally, fundamental principle of Kalman filter and its application in data processing of NCAPS are discussed.
引文
[1] 朱海 莫军 水下导航信息融合技术 国防工业出版社 2002
[2]【美】D．G．鲁恩伯杰 著 蒋正新 郑梅春 译 最优化的矢量空间方法 国防工业出版社 1987
[3] 魏权龄 王日爽 徐兵 数学规划与优化设计 国防工业出版社 1984
[4] 刘宝光 非线性规划 北京理工大学出版社 1988
[5] 陈开周 最优化计算方法 西安电子科技大学出版社 1984
[6] 杨冰 实用最优化方法及计算机程序 哈尔滨船舶工程学院出版社 1994
[7] 蔡宣三 最优化与最优控制 清华大学出版社 1982
[8] 刘钦圣 最小二乘问题计算方法 北京工业大学出版社 1989
[9] 张守信 GPS卫星测量定位理论与应用 国防科技大学出版社 1996
[10] 郭禄光 樊功瑜 最小二乘法与测量平差 同济大学出版社 1985
[11] 郑林华 韩方景 卫星移动通信原理与应用 国防工业出版社 2000
[12] 黄端旭 信息传输原理 南京工学院出版社 1987
[13] 眭法川 锁相与频率合成 国防工业出版社 1988
[14] 艾国祥、施浒立、颜毅华，中国设定导航系统(NCAPS)的设想，中国科学院国家天文台，2002年12月
[15] 中国科学院国家授时中以心，国家天文台，上海微系统与信息技术研究所，中国天文定位系统(NCAPS)概念性方案报告，2003年1月26日
[16] Elliott D. Kaplan. Understanding GPS Principles and Applications.(邱致和、王万义译GPS原理和应用，2002年8月)
[17] 方群、袁建平、郑谔编著，卫星定位导航基础，西北工业大学出版社，2000年9月
[18] 刘基余、李征航、王跃虎、桑吉章编著，全球定位系统原理及其应用，测绘出版社，1993年
[19] 徐绍基、张华海、扬志强、王泽民，GPS测量原理及应用，武汉大学出版社，2002年
[20] 王保保、徐国华 新天文导航系统测距定位可行性研究报告 西安电子科技大学2002年
[21] 周建军、潘玉良、常先华、路士利 新天文导航定位方法的数学求解、杭州电子工业学院，2003年4月
[22] 全球卫星无线电导航系统(内部参考资料)2002年
[23] NCAPS项目导航定位组，NCAPS虚似星载钟的技术途径。
[24] 王世儒、王金金、冯有前、李彦明编著 计算方法 西安电子科技大学 2002年9月
[25] 全庆一、胡健栋 编著 卫星移动通信 北京邮电大学出版社 2000年11月
[26] 王秉钧 田宝玉 王少勇 数字卫星通信 中国铁道出版社 1998年6月
[27] Anderson, Richard P. PhD The design and implementation of a low-cost GPS-MEMS/INS precision approach algorithm with health monitoring UNIVERSITY OF CENTRAL FLORIDA, 2003
[28] Busse, Franz Dewey PhD Precise formation-state estimation in low Earth orbit using carrier differential GPS STANFORD UNIVERSITY, 2003,
[29] Gautier, Jennifer Denise PhD GPS/INS generalized evaluation tool (GIGET) for the design and testing of integrated navigation systems STANFORD UNIVERSITY, 2003,
[30] www. chinacars.com/gps/
[31] www. gpsdiy.com/
[32] www. tdrising.com/3sjs/gpszs/
[33] 超星图书馆：GPS全球定位系统及应用
[34] 超星图书馆：GPS卫星导航与精密定位
[35] 超星图书馆：GPS卫星定位应用与数据处理
[36] 超星图书馆：GPS全球定位系统及应用
[37] Department of Defense/Deparment of Translportation, 1994 Federal Radionavigation Plan, Springfield, VA, National Technical Information Service,May 1995
[38] GPS Joint progaram Office NAVSTAR GPS User Equipment Introduction, Public Release Version, Feb. 1991
[39] Kaplan, E.,SatelliteGeodesy:Foundations, Metbods, and pplications, New York, NY:Walter DeGruyter, 1993
[40] ICD-GPS-2OO, NAVSTAR GPS Space Segment/Navigation User Interfaces (Public Release Version), ARINC Research Corporation, 11770 Warner Ave.;Suite 210, Fountain Valley CA, 92708, July 3,1991。
[41] Ward, p.," An Inside View of Pseudorange and Delta Pseudorange Measurements in a Digital NAVSTAR GPS Receiver" International Telemetering Conference, GPS-Military and Civil Applications, San Diego, CA, Oct. 14,1981, pp. 63-69.
[42] Copal Dommety, Raj Jain. Potential Networking Applications of Global Positioning Systems (GPS).The Ohio State University.
[43] Xiangqian Liao. Carrier Phase Based Ionosphere Recovery Over A Regional Area GPS Network. THE UNIVERSITY OF CALGARY. September 2000
[44] Fredrik Johansson, Rahman Mollaei, Jonas Thor, Jorgen Uusitalo. GPS satellite signal acquisition and tracking. August 1998
[45] John L. Crassidis, F. Landis Markley. A New Algorithm for Attitude etermination Using Global Positioning System Signals.
[46] Jonathan M. Hill. Development of an Experimental Global Positioning System (GPS) Receiver Platform for Navigation Algorithm Evaluation. A Dissertation for the degree of Doctor of Philosophy in Electrical Engineering, Worcester Polytechnic Institute. Augest, 2001
[47] Ping-Ya ko. GPS-based precision approach and landing navigation: Emphasis on inertial and pseudolite augmentation and differential ionosphere effect. A Dissertation for the degree of Doctor of Philosophy,Stanford Univ. May 2000
[2]【美】D．G．鲁恩伯杰 著 蒋正新 郑梅春 译 最优化的矢量空间方法 国防工业出版社 1987
[3] 魏权龄 王日爽 徐兵 数学规划与优化设计 国防工业出版社 1984
[4] 刘宝光 非线性规划 北京理工大学出版社 1988
[5] 陈开周 最优化计算方法 西安电子科技大学出版社 1984
[6] 杨冰 实用最优化方法及计算机程序 哈尔滨船舶工程学院出版社 1994
[7] 蔡宣三 最优化与最优控制 清华大学出版社 1982
[8] 刘钦圣 最小二乘问题计算方法 北京工业大学出版社 1989
[9] 张守信 GPS卫星测量定位理论与应用 国防科技大学出版社 1996
[10] 郭禄光 樊功瑜 最小二乘法与测量平差 同济大学出版社 1985
[11] 郑林华 韩方景 卫星移动通信原理与应用 国防工业出版社 2000
[12] 黄端旭 信息传输原理 南京工学院出版社 1987
[13] 眭法川 锁相与频率合成 国防工业出版社 1988
[14] 艾国祥、施浒立、颜毅华，中国设定导航系统(NCAPS)的设想，中国科学院国家天文台，2002年12月
[15] 中国科学院国家授时中以心，国家天文台，上海微系统与信息技术研究所，中国天文定位系统(NCAPS)概念性方案报告，2003年1月26日
[16] Elliott D. Kaplan. Understanding GPS Principles and Applications.(邱致和、王万义译GPS原理和应用，2002年8月)
[17] 方群、袁建平、郑谔编著，卫星定位导航基础，西北工业大学出版社，2000年9月
[18] 刘基余、李征航、王跃虎、桑吉章编著，全球定位系统原理及其应用，测绘出版社，1993年
[19] 徐绍基、张华海、扬志强、王泽民，GPS测量原理及应用，武汉大学出版社，2002年
[20] 王保保、徐国华 新天文导航系统测距定位可行性研究报告 西安电子科技大学2002年
[21] 周建军、潘玉良、常先华、路士利 新天文导航定位方法的数学求解、杭州电子工业学院，2003年4月
[22] 全球卫星无线电导航系统(内部参考资料)2002年
[23] NCAPS项目导航定位组，NCAPS虚似星载钟的技术途径。
[24] 王世儒、王金金、冯有前、李彦明编著 计算方法 西安电子科技大学 2002年9月
[25] 全庆一、胡健栋 编著 卫星移动通信 北京邮电大学出版社 2000年11月
[26] 王秉钧 田宝玉 王少勇 数字卫星通信 中国铁道出版社 1998年6月
[27] Anderson, Richard P. PhD The design and implementation of a low-cost GPS-MEMS/INS precision approach algorithm with health monitoring UNIVERSITY OF CENTRAL FLORIDA, 2003
[28] Busse, Franz Dewey PhD Precise formation-state estimation in low Earth orbit using carrier differential GPS STANFORD UNIVERSITY, 2003,
[29] Gautier, Jennifer Denise PhD GPS/INS generalized evaluation tool (GIGET) for the design and testing of integrated navigation systems STANFORD UNIVERSITY, 2003,
[30] www. chinacars.com/gps/
[31] www. gpsdiy.com/
[32] www. tdrising.com/3sjs/gpszs/
[33] 超星图书馆：GPS全球定位系统及应用
[34] 超星图书馆：GPS卫星导航与精密定位
[35] 超星图书馆：GPS卫星定位应用与数据处理
[36] 超星图书馆：GPS全球定位系统及应用
[37] Department of Defense/Deparment of Translportation, 1994 Federal Radionavigation Plan, Springfield, VA, National Technical Information Service,May 1995
[38] GPS Joint progaram Office NAVSTAR GPS User Equipment Introduction, Public Release Version, Feb. 1991
[39] Kaplan, E.,SatelliteGeodesy:Foundations, Metbods, and pplications, New York, NY:Walter DeGruyter, 1993
[40] ICD-GPS-2OO, NAVSTAR GPS Space Segment/Navigation User Interfaces (Public Release Version), ARINC Research Corporation, 11770 Warner Ave.;Suite 210, Fountain Valley CA, 92708, July 3,1991。
[41] Ward, p.," An Inside View of Pseudorange and Delta Pseudorange Measurements in a Digital NAVSTAR GPS Receiver" International Telemetering Conference, GPS-Military and Civil Applications, San Diego, CA, Oct. 14,1981, pp. 63-69.
[42] Copal Dommety, Raj Jain. Potential Networking Applications of Global Positioning Systems (GPS).The Ohio State University.
[43] Xiangqian Liao. Carrier Phase Based Ionosphere Recovery Over A Regional Area GPS Network. THE UNIVERSITY OF CALGARY. September 2000
[44] Fredrik Johansson, Rahman Mollaei, Jonas Thor, Jorgen Uusitalo. GPS satellite signal acquisition and tracking. August 1998
[45] John L. Crassidis, F. Landis Markley. A New Algorithm for Attitude etermination Using Global Positioning System Signals.
[46] Jonathan M. Hill. Development of an Experimental Global Positioning System (GPS) Receiver Platform for Navigation Algorithm Evaluation. A Dissertation for the degree of Doctor of Philosophy in Electrical Engineering, Worcester Polytechnic Institute. Augest, 2001
[47] Ping-Ya ko. GPS-based precision approach and landing navigation: Emphasis on inertial and pseudolite augmentation and differential ionosphere effect. A Dissertation for the degree of Doctor of Philosophy,Stanford Univ. May 2000