本文選題：MEMS慣導 + 姿態(tài)更新��； 參考：《西南交通大學》2017年碩士論文

【摘要】：正確的探測與修復周跳是保證GNSS(Global Navigation Satellite System)高精度導航定位服務的前提。在一些特殊環(huán)境(城市街道、高邊坡路、隧道等)動態(tài)測量時,周跳的頻繁發(fā)生導致無法定位或定位結(jié)果錯誤。常用周跳探測的方法都依賴于GNSS觀測值,在GNSS失鎖以后,僅靠自身的觀測值很難可靠的探測出周跳發(fā)生的位置及大小。GNSS接收機的采樣率一般為1Hz,數(shù)據(jù)采樣頻率低,很難滿足高動態(tài)應用環(huán)境。慣性導航系統(tǒng)不受外界干擾,數(shù)據(jù)采樣率高,短期內(nèi)精度較高。本文引入慣導觀測值,提出了一種聯(lián)合慣導的GPS周跳探測與修復算法。本論文旨在GPS聯(lián)合慣導解決在復雜環(huán)境下大量衛(wèi)星失鎖時對GPS周跳的探測與修復,實現(xiàn)GPS高精度實時動態(tài)定位。圍繞這一核心目標,本文主要從算法設計和數(shù)據(jù)處理的角度出發(fā),深入研究,建立了 MEMS(Microelectromechanical System)慣導空間軌跡跟蹤的數(shù)學模型,提出了聯(lián)合慣導約束GPS觀測方程,建立星間單差的歷元差分模型,完成對周跳的探測與修復。本文主要研究內(nèi)容和成果有以下幾個方面:(1)、完成MEMS慣導姿態(tài)更新與空間軌跡跟蹤的算法。在姿態(tài)解算方面,利用四元數(shù)法解算得到對應時刻的航向角、俯仰角、橫滾角。在空間軌跡跟蹤方面,完成載體坐標系下加速度到地理坐標系下的轉(zhuǎn)換,利用時域二次積分的方法,確定MEMS空間運動軌跡。針對該算法,通過仿真平面與斜坡運動的理論數(shù)據(jù)計算,結(jié)果偏差在10-3m內(nèi),表明MEMS慣導空間軌跡跟蹤算法在理論上準確可靠。(2)、完成MEMS慣導實測數(shù)據(jù)的處理。完成對三軸加速計、陀螺儀的零偏標定,對實測數(shù)據(jù)的信號采用中值濾波降噪,加入隨時間變化的動偏改正項。經(jīng)修正后,MEMS實測數(shù)據(jù)在10s內(nèi)計算結(jié)果,與RTK數(shù)據(jù)比較,在N、E方向誤差小于3m。(3)、提出聯(lián)合慣導的GPS周跳探測與修復的算法。采用了 GPS星間單差歷元差分的觀測模型,引入實測MEMS慣導觀測數(shù)據(jù),建立聯(lián)合慣導GPS周跳探測數(shù)學模型,根據(jù)最小二乘原理,結(jié)合LAMBDA整周模糊度搜索法,實現(xiàn)周跳的探測與修復。采用車載實測數(shù)據(jù)進行實驗,通過對比有無慣導約束的情況,實驗結(jié)果表明:在慣導約束下,可以成功的探測修復大量衛(wèi)星發(fā)生的周跳,并可以探測修復發(fā)生的小周跳。
[Abstract]:Correct detection and repair of cycle slips is a prerequisite for GNSS (Global Navigation Satellite system) high precision navigation and positioning service. In some special environment (city streets, high slope roads, tunnels, etc.) dynamic measurement, the frequent occurrence of cycle slips lead to unable to locate or locate the results wrong. The commonly used methods of cycle slip detection depend on GNSS observations. After GNSS has lost its lock, it is difficult to reliably detect the position and size of cycle slips. The sampling rate of GNSS receiver is generally 1 Hz, and the data sampling frequency is low. It is difficult to meet the high dynamic application environment. Inertial navigation system is free from external interference, data sampling rate is high, short-term accuracy is high. In this paper, a GPS cycle slip detection and repair algorithm for combined inertial navigation is proposed by introducing the observed values of inertial navigation. The purpose of this paper is to solve the problem of GPS cycle slip detection and repair when a large number of satellites lose lock in complex environment, and to realize GPS high precision real-time dynamic positioning. Focusing on this core goal, this paper, from the point of view of algorithm design and data processing, establishes the mathematical model of MEMS (Microelectromechanical system) inertial navigation space trajectory tracking, and puts forward the GPS observation equation of joint inertial navigation constraint. The epoch difference model of single difference between stars is established to detect and repair the cycle slip. The main contents and achievements of this paper are as follows: (1) the algorithms of attitude updating and tracking of MEMS inertial navigation system are completed. In the aspect of attitude solution, the heading angle, pitch angle and roll angle are calculated by quaternion method. In the aspect of space trajectory tracking, the acceleration transformation from carrier coordinate system to geographical coordinate system is completed, and the track of MEMS space motion is determined by the method of quadratic integration in time domain. According to the theoretical data of simulation plane and slope motion, the deviation of the result is within 10-3m, which shows that the tracking algorithm of MEMS inertial navigation space is accurate and reliable in theory. (2) the processing of the measured data of MEMS inertial navigation is completed. The zero bias calibration of triaxial accelerometer and gyroscope is completed. The median filter is used to reduce the noise of the measured data and the dynamic deviation correction term with time is added. Compared with RTK data, the calculated results of modified MEMS measured data are less than 3 m. (3) A GPS cycle slip detection and repair algorithm based on combined inertial navigation is proposed. Based on the observation model of single difference epoch difference between GPS satellites and the observed data of MEMS inertial navigation system, the mathematical model of GPS cycle slip detection for joint inertial navigation system is established. According to the principle of least square, the integral cycle ambiguity search method of Lambda is used. The cycle slip detection and repair are realized. The experimental results show that under inertial navigation constraints, the cycle slips of a large number of satellites can be successfully detected and the small cycle slips can be detected.
【學位授予單位】：西南交通大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：P228.4

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本文編號：2094804