發(fā)布時間：2019-02-26 17:11

【摘要】：衛(wèi)星定向是現代導航中的主要定向方式之一，具有成本低、初始化時間短、精度高、無積累誤差、不受地理位置影響等優(yōu)點。利用GPS載波相位技術來測量載體的航向角的研究已成為一個熱門方向。 本文基于對載波相位相對定位理論的分析，研究了單歷元下單頻和雙頻載波相位信息定向理論和算法，設計并實現了基線約束的單歷元單頻和雙頻的定向系統。具體內容如下： 系統論述了GPS偽距和載波相位的測量原理和影響GPS定向精度的誤差因素，推導了GPS定向中的雙差測量方程。此外，本文還探討了利用雙天線定向的基本理論以及方向角求解中的問題。 文中提出在基于雙差偽距的基礎上利用基線約束的最小二乘法搜索法來求解整周模糊度。針對單頻接收機，采用確定基線長度并用低精度傾角傳感器輔助的方法來計算雙差整周模糊度的可能解；雙頻接收機中，，采用確定基線長度和利用寬巷方法計算整周模糊度可能解。算法采用單歷元解算，規(guī)避載波相位周跳問題，極大地減小初始化時間。最終通過殘差約束的方法確定整周模糊度，從而確定載體航向角。 根據提出的基線約束最小二乘法搜索法原理，在Vx-Works環(huán)境下利用PC/104PMI2編寫了GPS衛(wèi)星數據采集和定向解算的程序，實現了對航向角實時的測量。此外，根據實際情況中遇到的問題，分析探討了對選取主星和模糊度確認方面的內容。 最后，根據文中的方法，進行多次定向實驗。其靜態(tài)和動態(tài)試驗結果均表明：該方法快速有效，可以實現實時定向，其定向精度小于0.2°/基線長度，定向成功率大于99%。
[Abstract]:Satellite orientation is one of the main orientation methods in modern navigation, which has the advantages of low cost, short initialization time, high precision, no accumulated error, and not affected by geographical position. Using GPS carrier phase technology to measure the heading angle of carrier has become a hot direction. Based on the analysis of the relative positioning theory of carrier phase, this paper studies the theory and algorithm of single-frequency and double-frequency carrier phase information orientation in a single epoch, and designs and implements a single-epoch single-frequency and two-frequency orientation system with baseline constraints. The main contents are as follows: the measuring principle of GPS pseudo-range and carrier phase and the error factors affecting GPS orientation accuracy are systematically discussed. The double-difference measurement equation in GPS orientation is derived. In addition, this paper also discusses the basic theory of dual-antenna orientation and the problem of direction angle solution. In this paper, based on the double-difference pseudo-range, the least square search method with baseline constraints is proposed to solve the integer ambiguity. For single-frequency receiver, the possible solution of double-difference integer ambiguity is calculated by using the method of determining baseline length and using low-precision inclination sensor. In the dual-frequency receiver, the possible solution of integer ambiguity is calculated by determining the baseline length and using the wide lane method. The algorithm uses a single epoch algorithm to avoid the carrier phase cycle-slip problem and greatly reduce the initialization time. Finally, the integer ambiguity is determined by residual constraint, thus the heading angle of the carrier is determined. According to the principle of baseline constrained least squares search method, the program of GPS satellite data acquisition and directional calculation is programmed by using PC/104PMI2 in Vx-Works environment, and the real-time measurement of heading angle is realized. In addition, according to the problems encountered in the actual situation, the selection of the main star and the identification of ambiguity are analyzed and discussed. Finally, according to the method in the paper, many directional experiments are carried out. The results of both static and dynamic tests show that this method is fast and effective and can realize real-time orientation. The orientation accuracy is less than 0.2 擄/ baseline length and the success rate of orientation is more than 99%.
【學位授予單位】：上海交通大學
【學位級別】：碩士
【學位授予年份】：2013
【分類號】：P228.4

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