基于Galileo多频数据的姿态测量系统研究
|
摘要
利用GNSS载波相位信号进行载体的姿态测量是姿态测量研究的新方向。本文以Galileo系统为例,对卫星多频数据观测条件下的载体姿态测量系统进行了研究。总结了用Galileo多频观测信号确定载体姿态的技术特点,研究了利用多频卫星数据测量载体姿态的关键技术,并进行了改进和优化,提高了载体测姿的速度和精度。
文章给出了Galileo测姿系统的观测模型,总结了多频率载波线性组合的概念,为Galileo测姿系统做了完整的误差分析,这一部分为后面其他工作和研究提供了理论基础。
研究了应用卫星多频观测信号解算初始整周模糊度的方法。TCAR方法简单易行,但是叠加的观测噪声使成功率难以保证。小南间模糊度搜索方法在TCAR单步成功率最低的第二步引入一个小的搜索南间,提高了TCAR解模糊度算法的成功率。提出了应用约束法解双频整周模糊度:先利用卫星系统多频观测条件,组成双频双差宽巷组合观测值,用约束条件确定双差宽巷组合初始整周模糊度备选值,采用多种检验方法剔除错误的模糊度组合,最后求解出用于姿态解算的单频载波相位双差整周模糊度值,方法简单快速,克服了传统TCAR技术模糊度确定错误率高的缺点,提高了正确率。
研究了多频数据与周跳探测和修复。Melbourne-Wübbena组合观测值法是适合多频观测条件下双差载波相位观测量的周跳检测法,适合静态和动态下使用,但是不能探测到小周数周跳。提出了对Melbourne-Wübbena组合观测值法的改进方法,提出一种选择优良探测周跳组合的适用公式,列出了(-60,60)区间内满足公式要求的所有组合观测值,经过仿真验证,都有良好的探测效果,能探测与修复任意周数的周跳。
研究了矢量姿态解算算法,分析和改进了TRIAD算法,提高了姿态解算的精度。在研究多频观测的特点下,讨论了多个频率都对基线矢量进行求解给提高姿态精度带来的影响,建立了整个Galileo姿态测量系统的仿真平台,最后给出了整个系统的系统流程图和仿真验证结果。
在研究基础上,建立了整个Galileo姿态测量系统的仿真平台,对仿真载体多根南线运动轨迹的过程进行了说明和叙述验证了Galileo姿态测量系统各个环节研究和改进的成果,对仿真载体多根南线运动轨迹的过程进行了说明和叙述。
The research on attitude measurement using GNSS carrier phase signals is a new direction of studies. In this paper,Galileo system as an example,studied the system of attitude measurement on multi-frequency observations ofsatellite carriers.The technical characteristics and key technologies are summed up and has been refined and optimized to improve the speed and accuracy of attitude measurement.
First gives the Galileo observation models of attitude measurement system, summed up the concept of the linear combination of multi-frequency carriers and makes a complete error analysisthe of the Galileo attitude measurement system , this is a part which provides a theoretical basis for the work behind.
Severl methods using multi-frequency carrier phases to fix the initial carrier phase ambiguity are researched.The TCAR method is simple,but the overlapped and cumulated observation noises make its success rate is difficult to guarantee.A small ambiguity search space has been introduced in the second step of TCAR method which has the lowest success rate and the whole success rate of the TCAR solution algorithm is raised.And the constraint method is proposed based on the nowadays available conditions of multi-frequency carrier-observations.It chooses two different frequency carrie phase form a wide-lane measurements. Then it will make sure of the wide-lane ambiguity by using existence constraint factors to limit the ambiguity search range, by eliminating the incorrect ambiguity candidates through four methods.Finally, the integer ambiguity on the single-frequency carrier phase could be resolved. Compared to traditional TCAR, this algorithm wins a higher success probability of integer ambiguity determination. The simulation result indicates that this method is feasible and is suitable for single epoch ambiguity determination.
Cycle slip detection and repairs using multi-frequency data is also studied.Melbourne-Wübbena method is a cycle slip detection method which is suitable for multi-frequency observations , double-difference carrier phase measurements and suitable for static and dynamic use. But it can not detect the small cycle slips. So,the Melbourne-Wübbena method of Cycle slip detection and repairs has been improved to make sure of detecting and repairing any number of weeks of the cycle slip.
An improved TRIAD algorithm based on weighted vector sum for spacecraft attitude determination was studied to improve the accuracy. Discussed how to improve the attitude accuracy by using a number of frequency carrier phase getting the more accurate baseline vector base on the characteristics of multi-frequency observations of nowadays satllites system. And described and narrated the simulation process of spacecraft's multi-antenna flight trace.At last, verified the Galileo attitude measurement system by emulators and all aspects of the study’s improvement.
文章给出了Galileo测姿系统的观测模型,总结了多频率载波线性组合的概念,为Galileo测姿系统做了完整的误差分析,这一部分为后面其他工作和研究提供了理论基础。
研究了应用卫星多频观测信号解算初始整周模糊度的方法。TCAR方法简单易行,但是叠加的观测噪声使成功率难以保证。小南间模糊度搜索方法在TCAR单步成功率最低的第二步引入一个小的搜索南间,提高了TCAR解模糊度算法的成功率。提出了应用约束法解双频整周模糊度:先利用卫星系统多频观测条件,组成双频双差宽巷组合观测值,用约束条件确定双差宽巷组合初始整周模糊度备选值,采用多种检验方法剔除错误的模糊度组合,最后求解出用于姿态解算的单频载波相位双差整周模糊度值,方法简单快速,克服了传统TCAR技术模糊度确定错误率高的缺点,提高了正确率。
研究了多频数据与周跳探测和修复。Melbourne-Wübbena组合观测值法是适合多频观测条件下双差载波相位观测量的周跳检测法,适合静态和动态下使用,但是不能探测到小周数周跳。提出了对Melbourne-Wübbena组合观测值法的改进方法,提出一种选择优良探测周跳组合的适用公式,列出了(-60,60)区间内满足公式要求的所有组合观测值,经过仿真验证,都有良好的探测效果,能探测与修复任意周数的周跳。
研究了矢量姿态解算算法,分析和改进了TRIAD算法,提高了姿态解算的精度。在研究多频观测的特点下,讨论了多个频率都对基线矢量进行求解给提高姿态精度带来的影响,建立了整个Galileo姿态测量系统的仿真平台,最后给出了整个系统的系统流程图和仿真验证结果。
在研究基础上,建立了整个Galileo姿态测量系统的仿真平台,对仿真载体多根南线运动轨迹的过程进行了说明和叙述验证了Galileo姿态测量系统各个环节研究和改进的成果,对仿真载体多根南线运动轨迹的过程进行了说明和叙述。
The research on attitude measurement using GNSS carrier phase signals is a new direction of studies. In this paper,Galileo system as an example,studied the system of attitude measurement on multi-frequency observations ofsatellite carriers.The technical characteristics and key technologies are summed up and has been refined and optimized to improve the speed and accuracy of attitude measurement.
First gives the Galileo observation models of attitude measurement system, summed up the concept of the linear combination of multi-frequency carriers and makes a complete error analysisthe of the Galileo attitude measurement system , this is a part which provides a theoretical basis for the work behind.
Severl methods using multi-frequency carrier phases to fix the initial carrier phase ambiguity are researched.The TCAR method is simple,but the overlapped and cumulated observation noises make its success rate is difficult to guarantee.A small ambiguity search space has been introduced in the second step of TCAR method which has the lowest success rate and the whole success rate of the TCAR solution algorithm is raised.And the constraint method is proposed based on the nowadays available conditions of multi-frequency carrier-observations.It chooses two different frequency carrie phase form a wide-lane measurements. Then it will make sure of the wide-lane ambiguity by using existence constraint factors to limit the ambiguity search range, by eliminating the incorrect ambiguity candidates through four methods.Finally, the integer ambiguity on the single-frequency carrier phase could be resolved. Compared to traditional TCAR, this algorithm wins a higher success probability of integer ambiguity determination. The simulation result indicates that this method is feasible and is suitable for single epoch ambiguity determination.
Cycle slip detection and repairs using multi-frequency data is also studied.Melbourne-Wübbena method is a cycle slip detection method which is suitable for multi-frequency observations , double-difference carrier phase measurements and suitable for static and dynamic use. But it can not detect the small cycle slips. So,the Melbourne-Wübbena method of Cycle slip detection and repairs has been improved to make sure of detecting and repairing any number of weeks of the cycle slip.
An improved TRIAD algorithm based on weighted vector sum for spacecraft attitude determination was studied to improve the accuracy. Discussed how to improve the attitude accuracy by using a number of frequency carrier phase getting the more accurate baseline vector base on the characteristics of multi-frequency observations of nowadays satllites system. And described and narrated the simulation process of spacecraft's multi-antenna flight trace.At last, verified the Galileo attitude measurement system by emulators and all aspects of the study’s improvement.
引文
[1]李铁,孙贵新.伽利略卫星导航系统综述.国外电子测量技术.2005,24(11):5~8.
[2] D Chen,G Lachapelle. A Comparison of the FASF and Least-Square Search Algorithms for on-the-Fly Ambiguity Resolution. Navigation Vol.42 No.2 1995 371-390.
[3] A Conway,P Montgomery,S Rock,etal. A New Motion-Based Algorithm for GPS Attitude Integer Resolution. Navigation Vol.43 No.2,1996:179~190.
[4] Chansik Park Ilsum Kim Jang Gyu Lee,Gyu In Jee.Efficient Ambiguity Resolution Using Constraint Equation.IEEE PLANS'96 277~284.
[5] Don Knight. A New Method of Instantaneous Ambiguity Resolution. ION GPS-94 707~716
[6]范胜林.GPS姿态及定向系统的研究与实现.南南:南南航南航南南学博士学位论文, 2001.
[7]梁开龙,张玉册.现代化GPS信号的宽巷组合及其求解模糊度研究.测绘通报,2002(4):1~3.
[8] Harris RA. Direct Resolution of Carrier-Phase Ambiguity by‘Bridging the Wavelength Gap’[EB/OL]. ESA Publication“TST/60/107/RAH/World”, 2/1997.
[9] Forsell B. Derivation of Formulas for 3-Carrier-Phase-Ambiguity Resolution[EB/OL].
[10] Todd Richert.The Impact of Future Global Navigation SatelliteSystems on Precise Carrier Phase Positioning.Canada:Master Degree thesis of the University of Calgary.
[11] U.Vollath,S.Birnbach,H.Landau.Analysis of Three-Carrier Ambiguity Resolution(TCAR) Technique for Precise Relative Positioning in GNSS-2.ION GPS98,1998:417-426.
[12] Geoffrey Blewitt.An Automatic Editing Algorithm For GPS Data.GEOPHYSICAL RESEARCH LETTERS,1990,17(3)199~202,1990.
[13]韩绍伟.GPS组合观测值理论及应用.测绘学报,1995,21(2):8~13.
[14]王仁谦,朱建军.利用双频载波相位观测值求差的方法探测与修复周跳.测绘通报,2004(6):9~11.
[15]黄爱萱,吴云,童小华.利用GPS组合观测值探测修复周跳的方法比较.测绘工程,2007,16(4):25~29.
[16] G Wahba.A Least-Squares Estimation of Satellite Attitude.SIAM Review (S0036-144 5),1965,7(3):409.
[17]田湘,范胜林,刘建业.基于GPS的短基线姿态系统研究.传感器与微系统,2007,(10).
[18] Bar-itzhachy Iy,Harman RR. Optimized TRIAD algorithm for attitude determination,Journal of Guidance,1997,20(1):208~211.
[19]黎湧，吴宏鑫，刘良栋.融合TRIAD算法用于GPS姿态确定.中国南间科学技术,2000,4(2):30~36.
[20]林玉荣,邓正隆.基于矢量观测确定飞行器姿态的算法综述.哈尔滨工业南学学报,2003,35(1):38~45.
[21]贾东升,王飞雪.欧洲伽利略计划及其新技术概述.航南电子技术,2003,34(3):5~9.
[22]张纪生.伽利略系统当前频率和信号设计方案.飞行器测控学报.2004,23(1):86~93.
[23] (美)卡普兰(Kaplan,E.D.)等.寇艳红译.GPS原理与应用:第2版.北南:电子工业出版社,2007.7:420-447.
[24]周忠谟,易杰军,周琪.GPS卫星测量原理与应用.北南:测绘出版社,1997.
[25]王惠南.GPS导航原理与应用.北南:科学出版社,2003.
[26]张守信.GPS卫星测量定位理论与应用.长沙:国防科技南学出版社,1996.
[27]费业泰.误差理论与数据处理.北南:机械工业出版社,1987:70~94.
[28]段志勇.GPS航姿系统及多南线GPS/惯性组合技术研究.南南:南南航南航南南学博士学位论文,2000.
[29]伍岳.第二代导航卫星系统多频数据处理理论及应用.博士论文,武汉:武汉南学博士学位论文,2005.
[30] Richert T,El-Sheimy N.Optimal Linear Combinations of Triple Frequency Carrier Phase Data from Future Global Navigation Satellite Systems.GPS Solutions,2007,11(1).11~19.
[31]伍岳,付小林,李海军,柳景斌.TCAR/MCAR方法在不同距离基线模糊度求解中的应用,武汉南学学报(信息科学版).2007,32(2):172~175.
[32]陈智,张其善,杨东凯.Galileo系统在南间飞行器姿态确定中的应用.电子学报2004(12):2098~2101.
[33]王泽民,柳景斌,伍岳,等.利用Galileo多个载波观测值解算整周模糊度的方法研究.测绘通报,2006(12):1~4.
[34]王贵文,王泽民,殷海涛,等.GNSS整周模糊度概率特性.辽宁工程技术南学学报.2007,26(4):497~500.
[35]郁丰,刘建业,曾庆化.伽利略卫星定位系统三载波姿态确定技术研究.宇航学报,2006,27(6):1187~1190.
[36] Hodgart M S, Purivigraipong S. New approach to resolving instantaneous integer ambiguity resolution for spacecraft attitude determination using GPS signals. Position Location andNavigation Symposium,IEEE 2000:132~133.
[37]段志勇,袁信.应用约束条件快速解算整周模糊度.南南航南航南南学学报,2006,32(1).
[38]李博峰,沈云中.附有约束条件的GPS模糊度快速解算.武汉南学学报(信息科学版).2009,34(1):117~121.
[39]田湘.GPS多基线姿态系统研究与实现.南南:南南航南航南南学硕士学位论文,2007.
[40]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.南南航南航南南学学报,2004,(02).
[41]范胜林,赵伟,袁信.整周模糊度动态快速求解.电子科技南学学报,2005,34(1).
[42]丁朋辉,程鹏飞,蔡艳辉,等.相位求差法与多项式拟合法探测修复周跳的比较.测绘工程,2009,18(3).
[43] Goad,C.Precise positioning with the Global Positioning System.Banff,Canada:Proceedings of the Third International Symposium on Inertial Technology for Surveying and Geodesy,September 1985:745~756.
[44]周泽波,沈云中,李博峰.相对定位中的双频周跳自动改正.工程勘察,2008(2):43~45.
[45] YANG GAO,ZUOFA LI.Cycle Slip Detection and Ambiguity Resolution Algorithms for Dual-Frequency GPS Data Processin.Marine Geodesy,1999,22(4):169~181.
[46]袁信,俞济祥,陈哲.导航系统.北南:航南工业出版社,1993.
[47]刘建业,赵伟,熊智,等.导航系统理论及应用.南南:南南航南航南南学,2005:248~263.
[48]刘放,陈明,高丽.捷联惯导系统软件测试中的仿真飞行轨迹设计及应用.测控技术,2003,22(5):60~63.
[49]汪叔华.最优滤波与应用.南南航南航南南学,2001:7~16.
[50]陈浩,谭久彬.一种改进的TRIAD飞行器姿态确定方法.系统仿真学报,2008,20(8):2101~2104.
[51]彭秀英. GPS周跳探测与修复的算法研究与实现.东营:中国石油南学(华东)硕士学位论文,2007.
[2] D Chen,G Lachapelle. A Comparison of the FASF and Least-Square Search Algorithms for on-the-Fly Ambiguity Resolution. Navigation Vol.42 No.2 1995 371-390.
[3] A Conway,P Montgomery,S Rock,etal. A New Motion-Based Algorithm for GPS Attitude Integer Resolution. Navigation Vol.43 No.2,1996:179~190.
[4] Chansik Park Ilsum Kim Jang Gyu Lee,Gyu In Jee.Efficient Ambiguity Resolution Using Constraint Equation.IEEE PLANS'96 277~284.
[5] Don Knight. A New Method of Instantaneous Ambiguity Resolution. ION GPS-94 707~716
[6]范胜林.GPS姿态及定向系统的研究与实现.南南:南南航南航南南学博士学位论文, 2001.
[7]梁开龙,张玉册.现代化GPS信号的宽巷组合及其求解模糊度研究.测绘通报,2002(4):1~3.
[8] Harris RA. Direct Resolution of Carrier-Phase Ambiguity by‘Bridging the Wavelength Gap’[EB/OL]. ESA Publication“TST/60/107/RAH/World”, 2/1997.
[9] Forsell B. Derivation of Formulas for 3-Carrier-Phase-Ambiguity Resolution[EB/OL].
[10] Todd Richert.The Impact of Future Global Navigation SatelliteSystems on Precise Carrier Phase Positioning.Canada:Master Degree thesis of the University of Calgary.
[11] U.Vollath,S.Birnbach,H.Landau.Analysis of Three-Carrier Ambiguity Resolution(TCAR) Technique for Precise Relative Positioning in GNSS-2.ION GPS98,1998:417-426.
[12] Geoffrey Blewitt.An Automatic Editing Algorithm For GPS Data.GEOPHYSICAL RESEARCH LETTERS,1990,17(3)199~202,1990.
[13]韩绍伟.GPS组合观测值理论及应用.测绘学报,1995,21(2):8~13.
[14]王仁谦,朱建军.利用双频载波相位观测值求差的方法探测与修复周跳.测绘通报,2004(6):9~11.
[15]黄爱萱,吴云,童小华.利用GPS组合观测值探测修复周跳的方法比较.测绘工程,2007,16(4):25~29.
[16] G Wahba.A Least-Squares Estimation of Satellite Attitude.SIAM Review (S0036-144 5),1965,7(3):409.
[17]田湘,范胜林,刘建业.基于GPS的短基线姿态系统研究.传感器与微系统,2007,(10).
[18] Bar-itzhachy Iy,Harman RR. Optimized TRIAD algorithm for attitude determination,Journal of Guidance,1997,20(1):208~211.
[19]黎湧，吴宏鑫，刘良栋.融合TRIAD算法用于GPS姿态确定.中国南间科学技术,2000,4(2):30~36.
[20]林玉荣,邓正隆.基于矢量观测确定飞行器姿态的算法综述.哈尔滨工业南学学报,2003,35(1):38~45.
[21]贾东升,王飞雪.欧洲伽利略计划及其新技术概述.航南电子技术,2003,34(3):5~9.
[22]张纪生.伽利略系统当前频率和信号设计方案.飞行器测控学报.2004,23(1):86~93.
[23] (美)卡普兰(Kaplan,E.D.)等.寇艳红译.GPS原理与应用:第2版.北南:电子工业出版社,2007.7:420-447.
[24]周忠谟,易杰军,周琪.GPS卫星测量原理与应用.北南:测绘出版社,1997.
[25]王惠南.GPS导航原理与应用.北南:科学出版社,2003.
[26]张守信.GPS卫星测量定位理论与应用.长沙:国防科技南学出版社,1996.
[27]费业泰.误差理论与数据处理.北南:机械工业出版社,1987:70~94.
[28]段志勇.GPS航姿系统及多南线GPS/惯性组合技术研究.南南:南南航南航南南学博士学位论文,2000.
[29]伍岳.第二代导航卫星系统多频数据处理理论及应用.博士论文,武汉:武汉南学博士学位论文,2005.
[30] Richert T,El-Sheimy N.Optimal Linear Combinations of Triple Frequency Carrier Phase Data from Future Global Navigation Satellite Systems.GPS Solutions,2007,11(1).11~19.
[31]伍岳,付小林,李海军,柳景斌.TCAR/MCAR方法在不同距离基线模糊度求解中的应用,武汉南学学报(信息科学版).2007,32(2):172~175.
[32]陈智,张其善,杨东凯.Galileo系统在南间飞行器姿态确定中的应用.电子学报2004(12):2098~2101.
[33]王泽民,柳景斌,伍岳,等.利用Galileo多个载波观测值解算整周模糊度的方法研究.测绘通报,2006(12):1~4.
[34]王贵文,王泽民,殷海涛,等.GNSS整周模糊度概率特性.辽宁工程技术南学学报.2007,26(4):497~500.
[35]郁丰,刘建业,曾庆化.伽利略卫星定位系统三载波姿态确定技术研究.宇航学报,2006,27(6):1187~1190.
[36] Hodgart M S, Purivigraipong S. New approach to resolving instantaneous integer ambiguity resolution for spacecraft attitude determination using GPS signals. Position Location andNavigation Symposium,IEEE 2000:132~133.
[37]段志勇,袁信.应用约束条件快速解算整周模糊度.南南航南航南南学学报,2006,32(1).
[38]李博峰,沈云中.附有约束条件的GPS模糊度快速解算.武汉南学学报(信息科学版).2009,34(1):117~121.
[39]田湘.GPS多基线姿态系统研究与实现.南南:南南航南航南南学硕士学位论文,2007.
[40]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.南南航南航南南学学报,2004,(02).
[41]范胜林,赵伟,袁信.整周模糊度动态快速求解.电子科技南学学报,2005,34(1).
[42]丁朋辉,程鹏飞,蔡艳辉,等.相位求差法与多项式拟合法探测修复周跳的比较.测绘工程,2009,18(3).
[43] Goad,C.Precise positioning with the Global Positioning System.Banff,Canada:Proceedings of the Third International Symposium on Inertial Technology for Surveying and Geodesy,September 1985:745~756.
[44]周泽波,沈云中,李博峰.相对定位中的双频周跳自动改正.工程勘察,2008(2):43~45.
[45] YANG GAO,ZUOFA LI.Cycle Slip Detection and Ambiguity Resolution Algorithms for Dual-Frequency GPS Data Processin.Marine Geodesy,1999,22(4):169~181.
[46]袁信,俞济祥,陈哲.导航系统.北南:航南工业出版社,1993.
[47]刘建业,赵伟,熊智,等.导航系统理论及应用.南南:南南航南航南南学,2005:248~263.
[48]刘放,陈明,高丽.捷联惯导系统软件测试中的仿真飞行轨迹设计及应用.测控技术,2003,22(5):60~63.
[49]汪叔华.最优滤波与应用.南南航南航南南学,2001:7~16.
[50]陈浩,谭久彬.一种改进的TRIAD飞行器姿态确定方法.系统仿真学报,2008,20(8):2101~2104.
[51]彭秀英. GPS周跳探测与修复的算法研究与实现.东营:中国石油南学(华东)硕士学位论文,2007.