本文選題：機動　切入點：交互式多模型　出處：《國防科學(xué)技術(shù)大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：導(dǎo)航濾波解算技術(shù)作為衛(wèi)星導(dǎo)航后端處理技術(shù)中的重要環(huán)節(jié),其性能由運動方程和觀測方程共同決定。在載體機動條件下,目標(biāo)運動狀態(tài)多變,而且受環(huán)境影響會出現(xiàn)弱信號、遮擋嚴(yán)重等現(xiàn)象,這時候觀測量質(zhì)量下降、載體運動狀態(tài)估計不足等問題充分暴露,都將直接導(dǎo)致接收機最終定位精度下降。針對上述問題,圍繞載體機動條件下用戶對接收機定位穩(wěn)健性需求,論文從北斗導(dǎo)航觀測量誤差特性分析與抑制、多模型濾波解算和多普勒輔助定位三個方面展開研究。具體研究內(nèi)容如下:第一部分針對多徑誤差和電離層誤差受環(huán)境影響多變并對最終定位精度起到主要影響這一問題,利用北斗系統(tǒng)在軌衛(wèi)星實測數(shù)據(jù)分析了一周內(nèi)GEO、IGSO、MEO衛(wèi)星多徑誤差變化特征,為接收機多徑誤差建模提供參考;分析了不同電離層修正方法在一天內(nèi)不同時段的精度以及不同電離層誤差修正方法對定位結(jié)果的影響,為接收機處理電離層延遲誤差提供參考。第二部分針對傳統(tǒng)交互式多模型算法在機動轉(zhuǎn)換時刻跟蹤性能較差問題,提出基于傳統(tǒng)交互式多模型的改進(jìn)算法。在傳統(tǒng)算法基礎(chǔ)上引入強跟蹤濾波器(STF),可以提高載體在機動轉(zhuǎn)換時刻濾波解算的穩(wěn)定性。仿真實驗結(jié)果表明,相比于傳統(tǒng)交互式多模型算法,改進(jìn)方法可以將水平方向誤差方差從18.11m降低到13.39m。實測數(shù)據(jù)分析中,改進(jìn)方法可以將水平方向誤差方差從10.89m降低到7.86m。第三部分針對傳統(tǒng)多普勒輔助偽距定位方法僅僅在速度維輔助估計,載體機動環(huán)境下存在估計不足的問題,提出了一種改進(jìn)的多普勒和偽距融合的卡爾曼濾波定位算法。改進(jìn)方法利用多普勒同時在位置維和速度維進(jìn)行輔助定位,并利用衛(wèi)星高度角對觀測噪聲加權(quán)。仿真實驗結(jié)果表明,相對于傳統(tǒng)方法,改進(jìn)方法可以將水平方向誤差方差由3.43m降低到1.56m。實測數(shù)據(jù)分析中,改進(jìn)方法可以將水平誤差方差從56.72m降低到39.50m。最后,對論文的研究成果及其工程意義進(jìn)行了總結(jié),并展望了下一步將要開展的相關(guān)工作。
[Abstract]:As an important part of the back-end processing technology of satellite navigation, navigation filtering solution technology is determined by the motion equation and observation equation together. Under the condition of vehicle maneuver, the moving state of the target is changeable, and the weak signal will appear under the influence of environment. Such phenomena as serious occlusion, when the quality of the observation quantity drops and the motion state estimation of the carrier are fully exposed, will directly lead to a decline in the final positioning accuracy of the receiver. According to the requirements of receiver positioning robustness under the condition of carrier maneuver, this paper analyzes and suppresses the error characteristics of Beidou navigation view. The main contents of this paper are as follows: in the first part, the multipath error and ionospheric error are influenced by the environment and have a major impact on the final positioning accuracy. Based on the measured data of Beidou satellite in orbit, the variation characteristics of multipath error of GEOOGSO MEO satellite within one week are analyzed, which provides a reference for the modeling of receiver multipath error. The accuracy of different ionospheric correction methods at different times of the day and the influence of different ionospheric error correction methods on the positioning results are analyzed. It provides a reference for the receiver to deal with the ionospheric delay error. The second part aims at the problem of poor tracking performance of the traditional interactive multi-model algorithm at the time of maneuver conversion. An improved algorithm based on traditional interactive multi-model is proposed. Based on the traditional algorithm, a strong tracking filter (STF) is introduced, which can improve the stability of the carrier's filtering solution at the time of maneuver conversion. The simulation results show that, Compared with the traditional interactive multi-model algorithm, the improved method can reduce the variance of horizontal direction error from 18.11m to 13.39m. The improved method can reduce the variance of horizontal direction error from 10.89m to 7.86m.The third part aims at the problem that the traditional Doppler aided pseudo-range positioning method is only in velocity dimension aided estimation, and there is insufficient estimation in carrier maneuvering environment. An improved Kalman filter localization algorithm based on Doppler and pseudo-range fusion is proposed. The simulation results show that the improved method can reduce the error variance of horizontal direction from 3.43 m to 1.56 m. The improved method can reduce the variance of horizontal error from 56.72m to 39.50m.Finally, the paper summarizes the research results and its engineering significance, and looks forward to the related work to be carried out in the next step.
【學(xué)位授予單位】：國防科學(xué)技術(shù)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TN965.5

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