惯导辅助的动对动整周模糊度快速解算方法
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摘要
针对北斗动对动相对定位中卫星信号极易受到外界环境的遮挡,导致整周模糊度无法快速、准确固定的问题,提出了惯导辅助的动对动整周模糊度解算方法。该方法利用两个运动运载体上的惯导的实时位置输出构造惯导伪距双差,并将其与载波相位双差进行组合,构造新的观测量和观测方程,再进行整周模糊度的解算。仿真实验结果表明,惯导信息的辅助使得模糊度浮点解误差明显减小,整周模糊度的固定时间缩短为16 s,相对定位精度达到厘米级,能够较好地实现动对动整周模糊度的快速解算。
As satellite signals are easily obstructed by the external environment in kinematic-to-kinematic relative position, it is difficult to calculate integer ambiguity fast and accurately. In order to solve this problem, an kinematic-to-kinematic integer ambiguity resolution with INS aiding was proposed. INS double-difference pseudo range was established according to the real-time position outputs of INS which were equipped on two kinematic carriers and combined with double-difference carrier phase to construct new observations and observation equations, after which calculating integer ambiguity. The simulation experiment indicated that the INS aiding made the errors of integer ambiguity floating solution decrease and integer ambiguity fixing time was decreased to 16 seconds with the relative position accuracy reaching cm-level, which meant that the resolution was suitable for kinematic-to-kinematic rapid integer ambiguity calculating.
As satellite signals are easily obstructed by the external environment in kinematic-to-kinematic relative position, it is difficult to calculate integer ambiguity fast and accurately. In order to solve this problem, an kinematic-to-kinematic integer ambiguity resolution with INS aiding was proposed. INS double-difference pseudo range was established according to the real-time position outputs of INS which were equipped on two kinematic carriers and combined with double-difference carrier phase to construct new observations and observation equations, after which calculating integer ambiguity. The simulation experiment indicated that the INS aiding made the errors of integer ambiguity floating solution decrease and integer ambiguity fixing time was decreased to 16 seconds with the relative position accuracy reaching cm-level, which meant that the resolution was suitable for kinematic-to-kinematic rapid integer ambiguity calculating.
引文
[1]许扬胤.北斗动对动高精度相对定位技术研究[D].郑州:信息工程大学,2017.
[2]刘帅,孙付平,张伦东,等.INS辅助周跳修复以实现精密单点定位瞬时重新收敛[J].中国惯性技术学报,2015,23(5):607-614.
[3]伍劭实,赵修斌,庞春雷,等.基于解耦消参的动对动相对定位算法[J].探测与控制学报,2015,37(5):26-30.
[4]伍劭实,赵修斌,庞春雷,等.北斗双频组合动对动高精度相对定位新算法[J].中国惯性技术学报,2016,26(6):758-762.
[5]Chen Yiming,Zhao Sheng,Jay A Farrell.Computationally efficient carrier integer ambiguity resolution in multiepoch GPS/INS:a common-position-shift approach[J].IEEE Transactions on Control Systems Technology,2015,24(5):1541-1556.
[6]Teunissen P J G.The least-squares ambiguity decorrelation adjustment:a method for fast GPS integer ambiguity estimation[J].Journal of Geodesy,1995,70(1-2):65-82.
[7]Dennis Odijk,Teunissen P J G,Zhang Baocheng.Single-frequency integer ambiguity resolution enabled GPS precise point positioning[J].Journal of Surveying Engineering,2012,138(4):193-202.
[8]Chansik Park,Ilsun Kim,Jang Gyu Lee,et al.Efficient technique to fix GPS carrier phase integer ambiguity on-the-fly[J].IEE Proceedings-Radar Sonar and Navigation,1997,144(3):148-155.
[9]甘雨,隋立芬,董明,等.INS辅助整周模糊度单历元直接解法[J].武汉大学学报:信息科学版,2016,41(10):1379-1384.
[10]Han Houzeng,Wang Jian,Wang Jinling,et al.Performance analysis on carrier phase-based tightly-coupled GPS/BDS/INS integration in GNSS degraded and denied environments[J].Sensors,2015,15(4):8685-8711.
[11]赵伟,万德均,刘建业.一种用INS辅助GPS周跳检测和求解整周模糊度的方法[J].中国空间科学技术,2004,4(2):13-18.
[12]韩厚增.惯导辅助BDS/GPS高精度动态定位模型研究[D].徐州:中国矿业大学,2017.
[2]刘帅,孙付平,张伦东,等.INS辅助周跳修复以实现精密单点定位瞬时重新收敛[J].中国惯性技术学报,2015,23(5):607-614.
[3]伍劭实,赵修斌,庞春雷,等.基于解耦消参的动对动相对定位算法[J].探测与控制学报,2015,37(5):26-30.
[4]伍劭实,赵修斌,庞春雷,等.北斗双频组合动对动高精度相对定位新算法[J].中国惯性技术学报,2016,26(6):758-762.
[5]Chen Yiming,Zhao Sheng,Jay A Farrell.Computationally efficient carrier integer ambiguity resolution in multiepoch GPS/INS:a common-position-shift approach[J].IEEE Transactions on Control Systems Technology,2015,24(5):1541-1556.
[6]Teunissen P J G.The least-squares ambiguity decorrelation adjustment:a method for fast GPS integer ambiguity estimation[J].Journal of Geodesy,1995,70(1-2):65-82.
[7]Dennis Odijk,Teunissen P J G,Zhang Baocheng.Single-frequency integer ambiguity resolution enabled GPS precise point positioning[J].Journal of Surveying Engineering,2012,138(4):193-202.
[8]Chansik Park,Ilsun Kim,Jang Gyu Lee,et al.Efficient technique to fix GPS carrier phase integer ambiguity on-the-fly[J].IEE Proceedings-Radar Sonar and Navigation,1997,144(3):148-155.
[9]甘雨,隋立芬,董明,等.INS辅助整周模糊度单历元直接解法[J].武汉大学学报:信息科学版,2016,41(10):1379-1384.
[10]Han Houzeng,Wang Jian,Wang Jinling,et al.Performance analysis on carrier phase-based tightly-coupled GPS/BDS/INS integration in GNSS degraded and denied environments[J].Sensors,2015,15(4):8685-8711.
[11]赵伟,万德均,刘建业.一种用INS辅助GPS周跳检测和求解整周模糊度的方法[J].中国空间科学技术,2004,4(2):13-18.
[12]韩厚增.惯导辅助BDS/GPS高精度动态定位模型研究[D].徐州:中国矿业大学,2017.