【摘要】：衛(wèi)星導(dǎo)航設(shè)備作為全球精確的定位系統(tǒng)的重要組成部分,其研究與應(yīng)用已日漸成熟并在多個(gè)領(lǐng)域取得了較為顯著的進(jìn)展。其中,衛(wèi)星導(dǎo)航設(shè)備姿態(tài)測(cè)量系統(tǒng)已逐步取代傳統(tǒng)的慣性測(cè)姿系統(tǒng)或與其進(jìn)行組合,實(shí)現(xiàn)了更好的姿態(tài)測(cè)量的效果。衛(wèi)星導(dǎo)航設(shè)備作為軍民兩用的新型設(shè)備,其應(yīng)用范圍廣泛,可用于航空,航天,航海以及陸地車載導(dǎo)航等。為了在現(xiàn)有的衛(wèi)星導(dǎo)航條件下,達(dá)到更高精度的定位或定姿解算,本文對(duì)基于衛(wèi)星導(dǎo)航系統(tǒng)的姿態(tài)測(cè)量研究具有重要的現(xiàn)實(shí)應(yīng)用目的。本文介紹了現(xiàn)有的各國衛(wèi)星導(dǎo)航系統(tǒng),并在結(jié)合全球定位GPS系統(tǒng)的基礎(chǔ)上研究分析了姿態(tài)解算的具體方法。傳統(tǒng)的單基線的姿態(tài)平臺(tái)只能測(cè)量載體的二維姿態(tài)角,載體的三維姿態(tài)角解算需要不共線的3個(gè)以上的天線配置2條以上的基線作為姿態(tài)測(cè)量平臺(tái)。本文采用的是共面但不共線的三天線配置的姿態(tài)測(cè)量平臺(tái)作為仿真研究平臺(tái)。用以仿真驗(yàn)證本文所研究并搭建的姿態(tài)測(cè)量平臺(tái)精度以及效率性,以驗(yàn)證其實(shí)際應(yīng)用性。整個(gè)姿態(tài)測(cè)量算法是用載波相位測(cè)量值的雙差模型作為解算模型,載波相位差分的解算難點(diǎn)在于求解載波相位的整數(shù)個(gè)數(shù),即載波相位的整周模糊度。與此同時(shí),本文比較了兩種整周模糊度求解算法,一種是基于幾何模型的整周模糊度解算方法,這種方法解算簡(jiǎn)單、高效,但不滿足于高精度的姿態(tài)解算。另一種是基于改進(jìn)后的LAMBDA算法的整周模糊度解算方法,這種方法解算精度高,但算法相對(duì)復(fù)雜,本文在算法去相關(guān)的反復(fù)迭代過程中做了排序調(diào)整,使搜索空間更小,解算速率更快,該算法同時(shí)滿足解算過程的精度及實(shí)時(shí)性要求,具有更廣泛的實(shí)際應(yīng)用價(jià)值。本文的姿態(tài)測(cè)量實(shí)驗(yàn)數(shù)據(jù)是以RENIX格式存儲(chǔ)的文件數(shù)據(jù),用MATLAB搭建姿態(tài)測(cè)量解算平臺(tái),先用各天線單點(diǎn)定位后利用直接姿態(tài)角算法求解出初始的姿態(tài)角、基線長(zhǎng)度以及基線偏差。然后對(duì)雙差的載波相位模型線性化建模,利用最小二乘法估計(jì)出精確的姿態(tài)參數(shù)、基線長(zhǎng)度以及基線偏差。
[Abstract]:As an important part of the global precise positioning system, the research and application of satellite navigation equipment has matured and made remarkable progress in many fields. Among them, the attitude measurement system of satellite navigation equipment has gradually replaced or combined with the traditional inertial attitude measurement system to achieve better attitude measurement effect. As a new type of military and civilian equipment, satellite navigation equipment is widely used in aviation, aerospace, navigation and land vehicle navigation. In order to achieve more accurate positioning or attitude determination under the existing satellite navigation conditions, this paper has an important practical purpose for the research of attitude determination based on satellite navigation system. In this paper, the existing satellite navigation systems in various countries are introduced, and the specific methods of attitude calculation are studied and analyzed on the basis of the global positioning GPS system. The traditional single baseline attitude platform can only measure the two-dimensional attitude angle of the carrier, and the solution of the three-dimensional attitude angle of the carrier requires more than 3 antennas with two or more baselines as the attitude measurement platform. In this paper, a three-antenna configuration attitude measurement platform with coplanar but not collinear is used as the simulation platform. The accuracy and efficiency of the attitude measurement platform studied and built in this paper are verified by simulation to verify its practical application. The whole attitude determination algorithm is based on the double difference model of carrier phase measurement value. The solution of carrier phase difference is difficult to solve the integer number of carrier phase, that is, the integer ambiguity of carrier phase. At the same time, this paper compares two integer ambiguity resolution algorithms, one is a geometric model-based integer ambiguity resolution method, this method is simple, efficient, but not satisfied with the high-precision attitude solution. The other is the integer ambiguity resolution method based on the improved LAMBDA algorithm. This method has high accuracy, but the algorithm is relatively complex. In this paper, the sorting adjustment is made in the iterative process of algorithm de-correlation, which makes the search space smaller. The algorithm meets the accuracy and real-time requirements of the solution process and has more practical application value. In this paper, the experimental data of attitude measurement are stored in RENIX format. The platform of attitude measurement is built with MATLAB. Firstly, the initial attitude angle, baseline length and baseline deviation are calculated by using the direct attitude angle algorithm. Then, the carrier phase model of double difference is linearized and the precise attitude parameters, baseline length and baseline deviation are estimated by the least square method.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TN967.1

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本文編號(hào)：2396823