基于GPS的分布式移动多载舰OTHR系统姿态测量方法研究
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摘要
分布式移动多载舰地波OTH(Over-The Horizon)雷达是以海军舰队的多艘军舰为离散装载平台的全新体制的雷达。这种雷达体制先进、性能优越、功能强大,且系统资源配置灵活,能在复杂的电磁和海洋环境下对海面舰船目标和掠海飞行目标实现可变范围的超视距探测,是地波OTH雷达探测领域的一个重要研究方向。然而这种雷达结构复杂、系统庞大,无论是在体制研究、系统资源配置,还是在系统设计和信号处理方面都有诸多的关键技术需要解决。而精确测量舰群中任意两雷达平台之间的距离,精确测算出每一雷达平台的姿态及接收天线波束的指向,是实现雷达整体探测性能、完成对目标精确定位的重要基础。本文就是以GPS全球定位系统为基础,利用GPS的精确性和高效率对分布式移动多载舰地波OTH雷达系统中的任意两雷达平台间的瞬时距离的精确测定及雷达平台姿态测量技术进行深入的理论分析和具体的实验,为后续的姿态测量及定位系统的实现提供理论依据和技术支撑。
本文首先对GPS的信号体制及定位原理进行了理论分析,接着给出了GPS单点定位各项误差的分类、产生机理、其对定位精度的影响及其消除方法,而且进一步地建模解算了三类空间相关误差在差分定位中的剩余残差,证明了基于GPS的动态差分定位方案在处理本文需要解决的分布式舰载雷达姿态测量系统问题上的可行性。最后完成了利用GPS差分技术进行两移动平台间距和姿态的实际测量试验,给出了具体的实验步骤和实验解算结果,对该结果进行了分析以及对于实验中所产生的问题提出了解决方法和改进意见,其实验和解算步骤对于实际测量过程具有一定的指导意义。
The distributed moving multi-carriable warship ground wave OTH (Over-The-Horizon) radar is a kind of brand new system radar, whose discrete loading platform is many warships of navy armada. This kind of radar has an advanced system, excellent effectiveness, powerful functions, and a flexible configuration of system resources. It can accomplish range changeable over-the-horizon detecting on targets of warship and aircraft grazing the ocean in the circumstances of complicated electromagnet and ocean, and it is an important research territory of warship ground wave OTH radar detection domain. However, this kind of radar has a complicated construction, huge system, and there are many crucial technical difficulties to be solved, whether on system research, configuration of system resource, or on system design and signal processing. But precisely measuring the distance between each two radar platforms of armada, the gesture of radar platform of each warship and point of receiving antenna beam are important foundations of accomplishing radar overall detecting capabilities and positioning target precisely. This thesis firstly stand upon the platform of Global Positioning System, utilizing the accuracy and high-efficiency of GPS to make a deep theoretical analysis and feasibility demonstration on precise measuring technology of the instantaneous distance between each two radar platforms and radar platform gesture detection of the distributed moving multi-carriable warship ground wave OTH (Over-The-Horizon) radar system, and to provide theoretical foundation and technology support to following implement of gesture detecting and orientation system.
This thesis firstly makes a theoretical analysis on the components, signal system, and positioning theory of GPS, it is the foundation of designing following measuring experiments. And then this thesis puts forward the classification and emergence mechanism of each item of error of GPS orientation, and their influences on the precision of positioning, and the methods to eliminate them. Furthermore, we build models and calculate the magnitude of residual error of three kinds of space-interrelated error in the differential positioning, which provides us a further understanding about the effects of each kind of error on the measurement results. And it also proves the feasibility of this method on solving the questions which need to be settled in this thesis. And then, this thesis fatherly conducts the practical measurement experiment on the distance of two moving platforms and gesture with GPS differential technology, gives the specific experiment procedures and resolving results, which are analyzed, and then put forward the solving methods and suggestions for improvement against the problems emerged in the experiments. The experiments and calculating process which is bringing forward has a guided significance on the practical measuring process.
本文首先对GPS的信号体制及定位原理进行了理论分析,接着给出了GPS单点定位各项误差的分类、产生机理、其对定位精度的影响及其消除方法,而且进一步地建模解算了三类空间相关误差在差分定位中的剩余残差,证明了基于GPS的动态差分定位方案在处理本文需要解决的分布式舰载雷达姿态测量系统问题上的可行性。最后完成了利用GPS差分技术进行两移动平台间距和姿态的实际测量试验,给出了具体的实验步骤和实验解算结果,对该结果进行了分析以及对于实验中所产生的问题提出了解决方法和改进意见,其实验和解算步骤对于实际测量过程具有一定的指导意义。
The distributed moving multi-carriable warship ground wave OTH (Over-The-Horizon) radar is a kind of brand new system radar, whose discrete loading platform is many warships of navy armada. This kind of radar has an advanced system, excellent effectiveness, powerful functions, and a flexible configuration of system resources. It can accomplish range changeable over-the-horizon detecting on targets of warship and aircraft grazing the ocean in the circumstances of complicated electromagnet and ocean, and it is an important research territory of warship ground wave OTH radar detection domain. However, this kind of radar has a complicated construction, huge system, and there are many crucial technical difficulties to be solved, whether on system research, configuration of system resource, or on system design and signal processing. But precisely measuring the distance between each two radar platforms of armada, the gesture of radar platform of each warship and point of receiving antenna beam are important foundations of accomplishing radar overall detecting capabilities and positioning target precisely. This thesis firstly stand upon the platform of Global Positioning System, utilizing the accuracy and high-efficiency of GPS to make a deep theoretical analysis and feasibility demonstration on precise measuring technology of the instantaneous distance between each two radar platforms and radar platform gesture detection of the distributed moving multi-carriable warship ground wave OTH (Over-The-Horizon) radar system, and to provide theoretical foundation and technology support to following implement of gesture detecting and orientation system.
This thesis firstly makes a theoretical analysis on the components, signal system, and positioning theory of GPS, it is the foundation of designing following measuring experiments. And then this thesis puts forward the classification and emergence mechanism of each item of error of GPS orientation, and their influences on the precision of positioning, and the methods to eliminate them. Furthermore, we build models and calculate the magnitude of residual error of three kinds of space-interrelated error in the differential positioning, which provides us a further understanding about the effects of each kind of error on the measurement results. And it also proves the feasibility of this method on solving the questions which need to be settled in this thesis. And then, this thesis fatherly conducts the practical measurement experiment on the distance of two moving platforms and gesture with GPS differential technology, gives the specific experiment procedures and resolving results, which are analyzed, and then put forward the solving methods and suggestions for improvement against the problems emerged in the experiments. The experiments and calculating process which is bringing forward has a guided significance on the practical measuring process.
引文
1张旭. GPS载波相位定位算法研究与仿真.哈尔滨工程大学硕士论文, 2007: 18~26
2许春明. GPS动态载波相位测量定位技术研究.哈尔滨工程大学硕士论文, 2002: 9~20
3陈汝军.浅析GPS卫星导航系统的定位误差.中国航海学会通信导航专业委员会2006年学术年会论文集. 2006: 11~15
4庄铭杰,彭国祥.差分GPS的对流层伪距残差的计算机模拟.中国航海. 2005,(1): 38~42
5庄铭杰.差分基准台与GPS用户的卫星仰角和它们间距离的关系研究.无线电工程. 2002,(6): 27~32
6袁建平,熊焰.用于远距离差分GPS的电离层误差分析与补偿.西北工业大学学报. 1993,(1): 13~18
7宋茂忠,王永澄.电离层对单频卫星导航系统伪距差分定位的影响.航空学报. 1995,(5): 628~631
8陈增强,王广远.差分GPS定位与模拟试验.导航. 1991,(1): 21~24
9杨永平,冯立清,张辉. GPS伪距差分定位技术的试验研究.铁道勘查. 2006,(1): 14~17
10陈强. PE-90、WGS-84及BEJ-54之间坐标转换的算法分析及应用研究.大连海事大学硕士论文, 2000: 13~14
11马鲲. GPS船舶姿态测量技术研究.大连海事大学硕士论文. 2004: 17~21
12石小丽.载波相位测量的定位解算算法研究.电子科技大学硕士论文, 2008:
18~26
13杨铁军. GPS实时姿态测量技术与多径误差研究.电子科技大学博士论文, 2003:
70~72
14刘基余. GPS卫星导航定位原理与方法.科学出版社. 2003: 344~345
15何晓峰. GPS快速精确相对定位技术.国防科学技术大学硕士论文, 2003: 7~11
16郭兴华. GPS动态实时定位技术研究.哈尔滨工程大学硕士论文, 2006: 19~28
17徐周. GPS差分定位技术及实现方法的研究.解放军信息工程大学硕士论文, 2006: 18~30
18袁翠.差分GPS算法及仿真研究.大连海事大学硕士论文. 2007: 1~21
19中国人民解放总装备部军事训练教材编辑工作委员会. GPS技术与应用.国防工业出版社. 2004.6: 136~140
20张崇伟,杜世强,陈永冰.位置差分GPS定位误差分析与远距离差分试验.海军工程学院学报. 1992,(3): 46~50
21 Stuart Riley, Nick Talbot, Geoffrey Kirk. A New System for RTK Performance Evaluation. Position Location and Navigation Symposium, IEEE. 2000: 231~236
22 Samuel Joseph Ryan. Augmentation of DGPS for marine navigation. PhD Thesis. 2002: 1~10
23 Demoz Gebre-Egziabher, Roger C. Hayward, J. David Powell. A Low-Cost GPS/inertial Attitude Heading Reference System (AHRS) for General Aviation Applications. Position Location and Navigation Symposium, IEEE. 1998: 518~525
24 Roger Hayward, Adam Marchick, J. David Powell. Single Baseline GPS Based Attitude Heading Reference System (AHRS) for Aircraft Applications. Poceedings of the American Control Conference. 1999,5: 3655~3659
25 Xiaogang Gu, Andreas Lipp. DGPS Positioning Using Carrier Phase for Precision Navigation. Position Location and Navigation Symposium, IEEE. 1994: 410~417
26 G.J. Morgan-Owen , G.T. Johnston. Differential GPS positioning. Electronics & Communication Engineering Journal. 1995,7(1): 11~21
27 Ning Luo, Gerard Lachapelle. Relative Positioning of Multiple Moving Platforms Using GPS. IEEE Transactions on Aerospace and Electronic Systems. 2003,39(3): 936~948
28 A. J. Van Dierendonck, Pat Fenton, Tom Ford. Theory and Performance of Narrow Correlator Spacing in a GPS Receiver. Navigation: Journal of The Institute of Navigation. 1992,39(3): 265~283
29 Jonathan M. Hill. Development of an experimental Global Positioning System (GPS) receiver platform for navigation algorithm evaluation. PhD Thesis. 2001: 1327~1332
30 W. T. Fong, S. K. Ong, A. Y. C. Nee. A Differential GPS Carrier Phase Technique for Precision Outdoor AR Tracking. IEEE International Symposium on Mixed and Augmented Reality, 2008: 25~28
31 Chen Shuxin, Wang Yongsheng, Chen Fei. A Study of Differential GPS Positioning Accuracy. 3rd International Conference on Microwave and Millimeter Wave Technology Proceedings, 2003: 361~364
32 Ahmed El-Rabbany. An Autonomous GPS carrier-phased-based System for Precision Navigation. IEEE Intelligent Transportation Systems Conference, 2006: 783~787
33 Javad Ashjaee. Differential GPS With Ashtech XII. Position Location and Navigation Symposium , IEEE, 1988: 318~322
34 Yunchun Yang, Jay Farrell, Matt Barth. High-Accuracy, High-Frequency Differential Carrier Phase GPS Aided Low-Cost INS. Position Location and Navigation Symposium, IEEE, 2000: 148~155
35 Sunil Bisnath, David Wells, Marcelo Santos, Karen Cove. Initial Results from a Long Baseline, Kinematic, Differential GPS Carrier Phase Experiment in a Marine Environment. Position Location and Navigation Symposium, IEEE, 2004: 625~631
36 Messaoud Kara, Kun-Mean Hou. Low Cost Differential GPS receivers (LCD-GPS): The differential correction function. New Technologies, Mobility and Security, 2008: 1~6
37 Andreas Schmid. Positioning Accuracy Improvement With Differential Correlation. IEEE Journal of Selected Topics in Signal Processing. 2009,3(4): 587~598
38 Tom Hunter, Wojciech Kosmalski, Phan Truong. Vehicle Navigation Using Differential GPS. Position Location and Navigation Symposium, IEEE. 1990: 392~398
39陈石磊. GPS载波相位定位技术的研究.西安电子科技大学硕士学位论文. 2008:17~23
40卓宁. GPS定位中的误差分析与改正.宇航计测技术. 2008,(6): 47~50
2许春明. GPS动态载波相位测量定位技术研究.哈尔滨工程大学硕士论文, 2002: 9~20
3陈汝军.浅析GPS卫星导航系统的定位误差.中国航海学会通信导航专业委员会2006年学术年会论文集. 2006: 11~15
4庄铭杰,彭国祥.差分GPS的对流层伪距残差的计算机模拟.中国航海. 2005,(1): 38~42
5庄铭杰.差分基准台与GPS用户的卫星仰角和它们间距离的关系研究.无线电工程. 2002,(6): 27~32
6袁建平,熊焰.用于远距离差分GPS的电离层误差分析与补偿.西北工业大学学报. 1993,(1): 13~18
7宋茂忠,王永澄.电离层对单频卫星导航系统伪距差分定位的影响.航空学报. 1995,(5): 628~631
8陈增强,王广远.差分GPS定位与模拟试验.导航. 1991,(1): 21~24
9杨永平,冯立清,张辉. GPS伪距差分定位技术的试验研究.铁道勘查. 2006,(1): 14~17
10陈强. PE-90、WGS-84及BEJ-54之间坐标转换的算法分析及应用研究.大连海事大学硕士论文, 2000: 13~14
11马鲲. GPS船舶姿态测量技术研究.大连海事大学硕士论文. 2004: 17~21
12石小丽.载波相位测量的定位解算算法研究.电子科技大学硕士论文, 2008:
18~26
13杨铁军. GPS实时姿态测量技术与多径误差研究.电子科技大学博士论文, 2003:
70~72
14刘基余. GPS卫星导航定位原理与方法.科学出版社. 2003: 344~345
15何晓峰. GPS快速精确相对定位技术.国防科学技术大学硕士论文, 2003: 7~11
16郭兴华. GPS动态实时定位技术研究.哈尔滨工程大学硕士论文, 2006: 19~28
17徐周. GPS差分定位技术及实现方法的研究.解放军信息工程大学硕士论文, 2006: 18~30
18袁翠.差分GPS算法及仿真研究.大连海事大学硕士论文. 2007: 1~21
19中国人民解放总装备部军事训练教材编辑工作委员会. GPS技术与应用.国防工业出版社. 2004.6: 136~140
20张崇伟,杜世强,陈永冰.位置差分GPS定位误差分析与远距离差分试验.海军工程学院学报. 1992,(3): 46~50
21 Stuart Riley, Nick Talbot, Geoffrey Kirk. A New System for RTK Performance Evaluation. Position Location and Navigation Symposium, IEEE. 2000: 231~236
22 Samuel Joseph Ryan. Augmentation of DGPS for marine navigation. PhD Thesis. 2002: 1~10
23 Demoz Gebre-Egziabher, Roger C. Hayward, J. David Powell. A Low-Cost GPS/inertial Attitude Heading Reference System (AHRS) for General Aviation Applications. Position Location and Navigation Symposium, IEEE. 1998: 518~525
24 Roger Hayward, Adam Marchick, J. David Powell. Single Baseline GPS Based Attitude Heading Reference System (AHRS) for Aircraft Applications. Poceedings of the American Control Conference. 1999,5: 3655~3659
25 Xiaogang Gu, Andreas Lipp. DGPS Positioning Using Carrier Phase for Precision Navigation. Position Location and Navigation Symposium, IEEE. 1994: 410~417
26 G.J. Morgan-Owen , G.T. Johnston. Differential GPS positioning. Electronics & Communication Engineering Journal. 1995,7(1): 11~21
27 Ning Luo, Gerard Lachapelle. Relative Positioning of Multiple Moving Platforms Using GPS. IEEE Transactions on Aerospace and Electronic Systems. 2003,39(3): 936~948
28 A. J. Van Dierendonck, Pat Fenton, Tom Ford. Theory and Performance of Narrow Correlator Spacing in a GPS Receiver. Navigation: Journal of The Institute of Navigation. 1992,39(3): 265~283
29 Jonathan M. Hill. Development of an experimental Global Positioning System (GPS) receiver platform for navigation algorithm evaluation. PhD Thesis. 2001: 1327~1332
30 W. T. Fong, S. K. Ong, A. Y. C. Nee. A Differential GPS Carrier Phase Technique for Precision Outdoor AR Tracking. IEEE International Symposium on Mixed and Augmented Reality, 2008: 25~28
31 Chen Shuxin, Wang Yongsheng, Chen Fei. A Study of Differential GPS Positioning Accuracy. 3rd International Conference on Microwave and Millimeter Wave Technology Proceedings, 2003: 361~364
32 Ahmed El-Rabbany. An Autonomous GPS carrier-phased-based System for Precision Navigation. IEEE Intelligent Transportation Systems Conference, 2006: 783~787
33 Javad Ashjaee. Differential GPS With Ashtech XII. Position Location and Navigation Symposium , IEEE, 1988: 318~322
34 Yunchun Yang, Jay Farrell, Matt Barth. High-Accuracy, High-Frequency Differential Carrier Phase GPS Aided Low-Cost INS. Position Location and Navigation Symposium, IEEE, 2000: 148~155
35 Sunil Bisnath, David Wells, Marcelo Santos, Karen Cove. Initial Results from a Long Baseline, Kinematic, Differential GPS Carrier Phase Experiment in a Marine Environment. Position Location and Navigation Symposium, IEEE, 2004: 625~631
36 Messaoud Kara, Kun-Mean Hou. Low Cost Differential GPS receivers (LCD-GPS): The differential correction function. New Technologies, Mobility and Security, 2008: 1~6
37 Andreas Schmid. Positioning Accuracy Improvement With Differential Correlation. IEEE Journal of Selected Topics in Signal Processing. 2009,3(4): 587~598
38 Tom Hunter, Wojciech Kosmalski, Phan Truong. Vehicle Navigation Using Differential GPS. Position Location and Navigation Symposium, IEEE. 1990: 392~398
39陈石磊. GPS载波相位定位技术的研究.西安电子科技大学硕士学位论文. 2008:17~23
40卓宁. GPS定位中的误差分析与改正.宇航计测技术. 2008,(6): 47~50