GPS航姿仪的设计与实现
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摘要
GPS全球定位系统作为新一代的卫星定位导航系统以其高精度、全球性、全天候、连续而快速等特性而备受人们的广泛关注,它可以有效克服惯性导航设备误差随时间积累的缺点。随着载波相位差分技术和数字信号处理设备的快速发展,利用GPS载波相位差分技术为载体姿态测量的研究开辟了一个新的GPS应用研究的新领域。本文围绕利用GPS载波相位差分技术确定载体姿态这一主题,研究了GPS姿态测量相关理论以及整周模糊度求解的理论及算法并用FPGA实现了GPS姿态测量系统。
本文设计的GPS姿态测量系统包括四个主要部分:数据的采集与处理、整周模糊度的解算、基线矢量解和姿态角的解算以及GPS姿态测量系统的硬件设计。第一部分首先要对GPS接收机发送配置信息,然后将接收到的二进制信息进行提取和格式转换;第二部分研究了整周模糊度的解算方法,选取了QR分解法快速求解整周模糊度,利用各种约束条件对范围内的值进行检验从而得到了精确的整周模糊度值;第三部分从载波相位观测方程出发,利用差分技术建立了载波相位的双差模型,在此基础上联立方程求解出基线的矢量解进而解出姿态角;第四部分是在前三部分的研究基础上进行了硬件和软件的具体实现,以FPGA为硬件基础,Nios II软核作为处理器,采用两个SUPERSTAR II GPS OEM接收机实现了本GPS姿态测量系统。最后本文采用多种实验方案对GPS姿态测量系统进行了验证,实验证明本方案可行,系统工作良好,可以有效地测出载体的姿态角。
As a new generation of satellite positioning navigation system the Global Positioning System is famous for its high precision, global character, all-weather, continuity and high speed, It can overcome inertial navigation equipment’s shortcoming which error accumulates along with the time effectively. With the rapid development of the carrier phase differencing technique and digital signal processing hardware,The research on attitude determination by GPS carrier phase differencing measurement explores a new area in GPS application. This thesis investigates the attitude determination using carrier phase differencing technique with an emphasis on theoretical aspects and algorithms of the attitude determination and the solution of integer ambiguity. The implementation of GPS determination system based on FPGA is also discussed.
The GPS attitude determination system which is discussed in this thesis consists of four vital parts including data acquisition and processing, integer ambiguity determination, attitude determination and the hardware implementation of the GPS attitude determination system. In the first part the configuration information has to be send into the GPS receiver firstly, then the binary information received from the GPS receiver needs to be extracted and converted in format. The integer ambiguity determination is discussed in the second part, the method of QR decomposition algorithm will be used in the ambiguity determination because of its rapidity, we can determinate the integer ambiguity form the scope of the integer ambiguity with the help of constraints. The attitude determination is discussed in the third part, and the carrier phase difference model which comes form the carrier phase observation equation will be established by using the differential techniques, the vector solution of the baseline and the angles of the attitude will be acquired from the model. In the last part the implementation of hardware and software which based on the research in the first three parts will be discussed. This GPS attitude determination system takes the FPGA as the hardware foundation, Nios II soft-core as the processor, and two SUPERSTAR II GPS OEM boards as the GPS signal receivers. Finally, this system will be verified by a variety of experimental programs, and it can be proved that the plan is feasible, the system works well, and the attitude angles can be acquired effectively.
本文设计的GPS姿态测量系统包括四个主要部分:数据的采集与处理、整周模糊度的解算、基线矢量解和姿态角的解算以及GPS姿态测量系统的硬件设计。第一部分首先要对GPS接收机发送配置信息,然后将接收到的二进制信息进行提取和格式转换;第二部分研究了整周模糊度的解算方法,选取了QR分解法快速求解整周模糊度,利用各种约束条件对范围内的值进行检验从而得到了精确的整周模糊度值;第三部分从载波相位观测方程出发,利用差分技术建立了载波相位的双差模型,在此基础上联立方程求解出基线的矢量解进而解出姿态角;第四部分是在前三部分的研究基础上进行了硬件和软件的具体实现,以FPGA为硬件基础,Nios II软核作为处理器,采用两个SUPERSTAR II GPS OEM接收机实现了本GPS姿态测量系统。最后本文采用多种实验方案对GPS姿态测量系统进行了验证,实验证明本方案可行,系统工作良好,可以有效地测出载体的姿态角。
As a new generation of satellite positioning navigation system the Global Positioning System is famous for its high precision, global character, all-weather, continuity and high speed, It can overcome inertial navigation equipment’s shortcoming which error accumulates along with the time effectively. With the rapid development of the carrier phase differencing technique and digital signal processing hardware,The research on attitude determination by GPS carrier phase differencing measurement explores a new area in GPS application. This thesis investigates the attitude determination using carrier phase differencing technique with an emphasis on theoretical aspects and algorithms of the attitude determination and the solution of integer ambiguity. The implementation of GPS determination system based on FPGA is also discussed.
The GPS attitude determination system which is discussed in this thesis consists of four vital parts including data acquisition and processing, integer ambiguity determination, attitude determination and the hardware implementation of the GPS attitude determination system. In the first part the configuration information has to be send into the GPS receiver firstly, then the binary information received from the GPS receiver needs to be extracted and converted in format. The integer ambiguity determination is discussed in the second part, the method of QR decomposition algorithm will be used in the ambiguity determination because of its rapidity, we can determinate the integer ambiguity form the scope of the integer ambiguity with the help of constraints. The attitude determination is discussed in the third part, and the carrier phase difference model which comes form the carrier phase observation equation will be established by using the differential techniques, the vector solution of the baseline and the angles of the attitude will be acquired from the model. In the last part the implementation of hardware and software which based on the research in the first three parts will be discussed. This GPS attitude determination system takes the FPGA as the hardware foundation, Nios II soft-core as the processor, and two SUPERSTAR II GPS OEM boards as the GPS signal receivers. Finally, this system will be verified by a variety of experimental programs, and it can be proved that the plan is feasible, the system works well, and the attitude angles can be acquired effectively.
引文
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[2]许江宁,朱涛,卞鸿巍.GPS姿态测量技术综述[J].海军工程大学学报.2004年6月,第15卷第3期:18-20页.
[3]刘基余.GPS卫星导航定位原理与方法[M].北京,科学出版社,2003年
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[8] Hermann B R. A Simulation of the navigation and orientation potential of the TI-AGR[J]. Marine Geodesy,1985,9:133-143P
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[11] Jurgens R D, Rodgers C E, Fan L C. Advances in GPS Attitude Determining Technology as Developed for the Strategic Defense Command[A]. Proceedings of the fourth International Technical Meeting of the Satellite Division of the ION. Albuquerque,1991
[12] Lucas R, Martin Neira M. The GPS Integrated Navigation and Attitude Determination System[J]. ESA Journal,1990,14(3):289-302P
[13] Ashtech. 3DF 24-Channel GPS Measurement System[M]. Houston: Ashtech,1991
[14] Wilson G J, Tonnemacher J D. Trimble navigation GPS attitude determination system[A]. Proceedings of the fifth International Technical Meeting of the Satellite Division of the ION. Washington,1992
[15] Uematsu H, Parkinson B W, Lightsey E G. GPS Receiver Design and Requirement Analysis for the Stanford Gravity Probe B Relativity Mission[A]. Proceedings of the eighth International Technical Meeting of Satellite Division of the ION,Virginia,1995
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[19] Pratap Misra, Per Enge.全球定位系统:信号、测量与性能[M].北京:电子工业出版社,2008
[20]冯绍军,胡国辉,袁信.低成本IMU/GPS组合导航系统研究[J].南京航空航天大学学报.1998年12月,第30卷第6期641-643页
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[29] Yunchun Yang, Ronald R Hatch. Fast Ambiguity Resolution for Real Time Kinematic Survey and Navigation[M]. United States Patent.2004
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[31]朱志宇,刘维亭,张冰.快速整周模糊度求解在高精度GPS定位和导航中的应用[J].火力与指挥控制.2008年6月,第33卷第7期:139-142页
[32]赵丽,刘建业,范胜林.基于QR分解的快速解算初始整周模糊度方法的研究[J].南京航空航天大学学报,2004年4月,第36卷第2期:249-252页
[33]田湘,范胜林,刘建业.基于GPS的短基线姿态系统研究[J].传感器与微系统,2007年,第26卷第10期:29-31页
[34] Shuster M D,Oh S D.Three-axis attitude determination from vector observations[J].J of Guidance and Control,1981,4(1):72-77P
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[2]许江宁,朱涛,卞鸿巍.GPS姿态测量技术综述[J].海军工程大学学报.2004年6月,第15卷第3期:18-20页.
[3]刘基余.GPS卫星导航定位原理与方法[M].北京,科学出版社,2003年
[4]韩慧群.GPS姿态测量系统研究与开发[D].哈尔滨工程大学硕士学位论文,2006年
[5]王惠南.GPS导航原理与应用[M].北京:科学出版社,2005年
[6] P.J. de Jonge, C.C.J.M. Tiberius, P.J.G. Teunissen. Computational Aspects of the LAMBDA Method for GPS Ambiguity Resolution[J]. Proceedings ION GPS-96, USA, Missouri, Kansas, 1996. 935-944.P
[7] Counselman C C, Gourevitch S A. Miniature interferometer terminals for earth surveying[J].IEEE Transactions on Geoscience and Remote Sensing,1981
[8] Hermann B R. A Simulation of the navigation and orientation potential of the TI-AGR[J]. Marine Geodesy,1985,9:133-143P
[9] Kruczynski L R, Li P C, Evans A G. Using GPS to determine vehicle attitude[A]. Proceedings of the First International Technical Meeting of the Satellite Division of the ION. Colorado Springs,1988
[10] Kruczynski L R, Li P C, Evans A G. Using GPS to determine vehicle attitude: USS Yorktown test results[A]. Proceedings of the Second International Technical Meeting of the Satellite Division of the ION. Colorado Springs,1989
[11] Jurgens R D, Rodgers C E, Fan L C. Advances in GPS Attitude Determining Technology as Developed for the Strategic Defense Command[A]. Proceedings of the fourth International Technical Meeting of the Satellite Division of the ION. Albuquerque,1991
[12] Lucas R, Martin Neira M. The GPS Integrated Navigation and Attitude Determination System[J]. ESA Journal,1990,14(3):289-302P
[13] Ashtech. 3DF 24-Channel GPS Measurement System[M]. Houston: Ashtech,1991
[14] Wilson G J, Tonnemacher J D. Trimble navigation GPS attitude determination system[A]. Proceedings of the fifth International Technical Meeting of the Satellite Division of the ION. Washington,1992
[15] Uematsu H, Parkinson B W, Lightsey E G. GPS Receiver Design and Requirement Analysis for the Stanford Gravity Probe B Relativity Mission[A]. Proceedings of the eighth International Technical Meeting of Satellite Division of the ION,Virginia,1995
[16]许江宁,朱涛,卞鸿巍.GPS姿态测量技术综述[J].海军工程大学学报.2004年6月,第15卷第3期:18-20页
[17]星网宇达科技开发公司.产品选型手册[Z]. http://www.3dgps.com.cn
[18]张守信.GPS卫星测量定位理论与应用[M].长沙:国防科技大学出版社,1996年
[19] Pratap Misra, Per Enge.全球定位系统:信号、测量与性能[M].北京:电子工业出版社,2008
[20]冯绍军,胡国辉,袁信.低成本IMU/GPS组合导航系统研究[J].南京航空航天大学学报.1998年12月,第30卷第6期641-643页
[21] Xu Guochang. GPS:Theory,Algorithms,and Applications[M],Springer,2003.
[22]陈玉林.利用GPS载波相位信号确定载体姿态研究[D].南京航空航天大学硕士学位论文,2005年
[23]张守信.GPS技术与应用[M].北京:国防工业出版社,2004
[24]张孟阳,吕保维,宋文森.GPS系统中的多径效应分析[J].系统工程与电子技术.2002年2月,第24卷第9期:10-14页
[25]田湘.GPS多基线姿态系统研究与实现[D].南京航空航天大学硕士学位论文,2007年
[26]郭婧.基于GPS的姿态测量系统研究[D].哈尔滨工程大学硕士学位论文,2008年
[27] Teunissen,Peter J.G.PS Carrier Phase Ambiguity Fixing Concepts, in GPS for Geodesy[J],Lecture Notes in Earth Sciences, Springer,1996
[28] Cannon M E, H Sun, T E Owen and M A Meimdl. Assessment of a Non-dedicated GPS Receiver System for Precise Airborne Attitude Determination[A]. Proceedings of the seventh International Technical Meeting of Satellite Division of the ION. Salt Lake City,1994
[29] Yunchun Yang, Ronald R Hatch. Fast Ambiguity Resolution for Real Time Kinematic Survey and Navigation[M]. United States Patent.2004
[30]赵蓓,王飞雪,孙广富,雍少为.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年6月,第28卷第3期:254-256页
[31]朱志宇,刘维亭,张冰.快速整周模糊度求解在高精度GPS定位和导航中的应用[J].火力与指挥控制.2008年6月,第33卷第7期:139-142页
[32]赵丽,刘建业,范胜林.基于QR分解的快速解算初始整周模糊度方法的研究[J].南京航空航天大学学报,2004年4月,第36卷第2期:249-252页
[33]田湘,范胜林,刘建业.基于GPS的短基线姿态系统研究[J].传感器与微系统,2007年,第26卷第10期:29-31页
[34] Shuster M D,Oh S D.Three-axis attitude determination from vector observations[J].J of Guidance and Control,1981,4(1):72-77P
[35]周立功.SOPC嵌入式系统实验教程(一)[M].北京:北京航空航天大学出版社,2006年
[36]赵建领.Protel电路设计与制版[M].北京:电子工业出版社,2007年
[37]李东生,张勇.Protel DXP电路设计教程[M].北京:电子工业出版社,2003年
[38]王晓迪,张景秀.SOPC系统设计与实践[M].北京:北京航空航天大学出版社,2008年
[39]侯建军,郭勇.SOPC技术基础教程[M].北京:清华大学出版社,北京交通大学出版社,2008年
[40] Altera Corp.Nios II Processor Reference Handbook[Z]. http://www.altera.com
[41]李兰英.Nios II嵌入式软核SOPC设计原理及应用[M],北京:北京航空航天大学出版社,2006年
[42]周立功.SOPC嵌入式系统基础教程[M].北京:北京航空航天大学出版社,2006年
[43]黄佳玮,陈福深.基于Nios II的SOPC嵌入式系统设计[J].电子元器件应用,2009年7月,第11卷第7期:48-50页
[44]侯建军,郭勇.SOPC技术基础教程[M].北京:清华大学出版社,北京交通大学出版社,2008年
[45] IS-GPS-200D.Interface Specification IS-GPS-200,Revision D,Navstar GPS Space Segment/Navigation User Interfaces[S],Navstar GPS Joint Program Office,2004
[46] NovAtel. SUPERSTAR II Firmware Reference Manual[Z],Canada,2004
[47]王芹.光纤捷联惯性系统导航计算机设计[D].哈尔滨工程大学硕士学位论文,2008年
[48]孙恺,程世恒.Nios II系统开发设计与应用实例[M].北京:北京航空航天大学出版社,2007年
[49]蔡伟纲.Nios II软件架构解析[M].西安:西安电子科技大学出版社,2007年
[50] Altera Corp.Nios II Processor Reference Handbook[Z]. http://www.altera.com
[51] Altera Corp.Nios II Software Develop’s Handbook[Z]. http://www.altera.com
[52]王彦.基于FPGA的工程设计与应用[M].西安:西安电子科技大学出版社,2007年
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