本文選題：北斗導(dǎo)航PVT解算　切入點(diǎn)：最小二乘　出處：《重慶三峽學(xué)院》2017年碩士論文

【摘要】：近年來我國北斗衛(wèi)星導(dǎo)航系統(tǒng)的研究和應(yīng)用得到了快速的發(fā)展。為了推廣北斗衛(wèi)星導(dǎo)航的應(yīng)用,首先就是需要研發(fā)設(shè)計(jì)高精度的北斗衛(wèi)星導(dǎo)航接收機(jī),接收機(jī)主要分為射頻接收模塊、基帶數(shù)字信號(hào)處理模塊、PVT解算模塊。本文的研究內(nèi)容就是北斗衛(wèi)星導(dǎo)航PVT算法。為了提高北斗定位的精度和可靠性,需要做很多的工作,其中必不可少的就是研究北斗衛(wèi)星導(dǎo)航PVT算法。研究北斗衛(wèi)星導(dǎo)航的應(yīng)用,提高北斗衛(wèi)星導(dǎo)航的精度,可以很好的推動(dòng)北斗衛(wèi)星導(dǎo)航系統(tǒng)的應(yīng)用,打破美國的GPS衛(wèi)星導(dǎo)航定位系統(tǒng)的壟斷,保障我國國民經(jīng)濟(jì)的正常運(yùn)行和國防安全。本文主要是從最小二乘和卡爾曼濾波兩個(gè)主要的算法來研究北斗衛(wèi)星導(dǎo)航PVT算法。算法的研究主要是在現(xiàn)有的研究基礎(chǔ)上進(jìn)行分析并加以適當(dāng)?shù)母倪M(jìn)。算法的實(shí)現(xiàn)部分用C/C++實(shí)現(xiàn)。在論文中本人主要做了一下工作:1)最小二乘算法在北斗衛(wèi)星導(dǎo)航PVT解算中的應(yīng)用就是解一個(gè)四元非線性方程組。最小二乘的解算是一個(gè)迭代過程,但是在迭代過程中如果收斂閾值過小,則可能會(huì)導(dǎo)致一直迭代下去而不能收斂,針對(duì)此種情況,本文提出一種基于動(dòng)態(tài)閾值的最小二乘PVT算法來避免長時(shí)間迭代不能收斂。2)最小二二乘算法的每個(gè)解是孤立的,相鄰的兩個(gè)時(shí)刻的解算沒有關(guān)聯(lián),最終的解算結(jié)果會(huì)出現(xiàn)跳動(dòng),沒有連貫性,但是具有較好高動(dòng)態(tài)性。在現(xiàn)實(shí)生活中物體處于慣性運(yùn)動(dòng)系統(tǒng)中,物體的運(yùn)動(dòng)是具有慣性的,相鄰兩時(shí)刻的運(yùn)動(dòng)之間存在慣性的聯(lián)系�？柭鼮V波算法是一種數(shù)學(xué)遞推算法,依靠上一時(shí)刻的值推算下一時(shí)刻的值,這樣就把連續(xù)時(shí)間內(nèi)的解算結(jié)果聯(lián)系起來,最終的解算結(jié)果看起來也就平滑,看起來不再來回跳動(dòng),這樣解出來的最終結(jié)果就符合物體的慣性運(yùn)行,但是動(dòng)態(tài)性較差,不適合高動(dòng)態(tài)的運(yùn)動(dòng)模型,所以本文就提出一種基于最小二乘和卡爾曼濾波的混合型PVT算法,根據(jù)不同的場(chǎng)景在最小二乘和卡爾曼濾波之間進(jìn)行算法的切換,兼顧兩種算法優(yōu)點(diǎn)。3)在本文的算法實(shí)現(xiàn)部分,主要針對(duì)基于動(dòng)態(tài)閾值的最小二乘PVT算法、擴(kuò)展卡爾曼濾波算法和基于最小二乘和卡爾曼濾波的混合型PVT算法進(jìn)行算法實(shí)現(xiàn);最終用MFC設(shè)計(jì)了一個(gè)上位機(jī)軟件把解算結(jié)果以文本和曲線的形式進(jìn)行圖形化顯示。
[Abstract]:In recent years, the research and application of Beidou satellite navigation system have been developed rapidly.In order to promote the application of Beidou satellite navigation, it is necessary to develop and design a high precision Beidou satellite navigation receiver. The receiver is mainly divided into radio frequency receiving module, baseband digital signal processing module and PVT solution module.The research content of this paper is Beidou satellite navigation PVT algorithm.In order to improve the accuracy and reliability of Beidou positioning, a lot of work needs to be done, among which the research of Beidou satellite navigation PVT algorithm is indispensable.Studying the application of Beidou satellite navigation and improving the accuracy of Beidou satellite navigation can promote the application of Beidou satellite navigation system and break the monopoly of GPS satellite navigation and positioning system in the United States.To ensure the normal operation of our national economy and national defense security.In this paper, the PVT algorithm of Beidou satellite navigation is studied from two main algorithms: least square and Kalman filter.The research of the algorithm is mainly based on the existing research analysis and appropriate improvement.The algorithm is implemented by C / C.In this paper, I mainly do my work: 1) the application of least squares algorithm in the PVT solution of Beidou satellite navigation is to solve a quaternion nonlinear system of equations.The solution of the least squares is an iterative process, but if the convergence threshold is too small during the iteration, it may result in continuous iteration without convergence.In this paper, a dynamic threshold based least-squares PVT algorithm is proposed to avoid long time iteration without convergence. 2) each solution of the LS-2 algorithm is isolated, the solution of two adjacent moments is not related, and the final solution results will jump.There is no coherence, but it is highly dynamic.In the real life, the object is in the inertial motion system, the motion of the object is inertial, and there is an inertial relation between the motion of the adjacent two times.The Kalman filter algorithm is a mathematical recursive algorithm, which calculates the value of the next moment based on the value of the previous moment, so that the results of the solution in the continuous time can be linked together, and the final result will look smooth.It doesn't seem to be bouncing back and forth, so the final result is consistent with the inertial motion of the object, but it's less dynamic and is not suitable for a highly dynamic motion model.Therefore, this paper proposes a hybrid PVT algorithm based on least square and Kalman filter. According to different scenarios, the algorithm is switched between least squares and Kalman filter, and the advantages of the two algorithms are taken into account.The algorithm of least square PVT based on dynamic threshold, extended Kalman filter and hybrid PVT algorithm based on least squares and Kalman filter are implemented.Finally, an upper computer software is designed with MFC to display the results graphically in the form of text and curve.
【學(xué)位授予單位】：重慶三峽學(xué)院
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TN967.1

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 劉帥;趙國榮;高超;曾賓;;GPS/北斗組合衛(wèi)星導(dǎo)航系統(tǒng)快速選星算法[J];電光與控制;2017年03期

2 袁赫良;金天;楊茜;紀(jì)元法;;采用相關(guān)曲線偏差的導(dǎo)航衛(wèi)星多徑信號(hào)分離方法[J];西安交通大學(xué)學(xué)報(bào);2017年02期

3 王瑋;郭慧杰;孟躍;;衛(wèi)星/偽衛(wèi)星/慣性組合著艦導(dǎo)引算法[J];系統(tǒng)工程與電子技術(shù);2017年02期

4 徐亞軍;李軍輝;吳峰;;基于遞推最小二乘平方差的GPS精密單點(diǎn)定位精度研究[J];科學(xué)技術(shù)與工程;2012年25期

5 陳麗;吳仁彪;胡鐵喬;盧丹;王文益;;一種新的GNSS快速定位算法[J];信號(hào)處理;2012年04期

6 張澤軍;林平分;;北斗基帶芯片中的ARM控制單元設(shè)計(jì)[J];數(shù)字技術(shù)與應(yīng)用;2012年03期

7 吳軒;葛召炎;劉姣;秦康;;基于改進(jìn)卡爾曼濾波的車輛定位精度仿真研究[J];計(jì)算機(jī)仿真;2011年10期

8 蔡昌盛;戴吾蛟;匡翠林;朱建軍;;單頻GPS/GLONASS組合單點(diǎn)定位的精度評(píng)估[J];大地測(cè)量與地球動(dòng)力學(xué);2011年03期

9 谷文飛;呂晶;常江;徐榮;;星歷和星鐘參數(shù)輔助精度對(duì)AGPS接收機(jī)捕獲性能的影響[J];電訊技術(shù);2011年04期

10 ;北斗衛(wèi)星導(dǎo)航系統(tǒng)簡介[J];全球定位系統(tǒng);2010年05期

相關(guān)博士學(xué)位論文 前2條

1 謝非;北斗軟件接收機(jī)及慣性/衛(wèi)星超緊組合導(dǎo)航關(guān)鍵技術(shù)研究[D];南京航空航天大學(xué);2014年

2 周巍;北斗衛(wèi)星導(dǎo)航系統(tǒng)精密定位理論方法研究與實(shí)現(xiàn)[D];解放軍信息工程大學(xué);2013年

相關(guān)碩士學(xué)位論文 前9條

1 寧威;北斗雙頻衛(wèi)星導(dǎo)航接收機(jī)技術(shù)研究與實(shí)現(xiàn)[D];北方工業(yè)大學(xué);2016年

2 楊騰飛;GPS衛(wèi)星導(dǎo)航信號(hào)仿真研究[D];浙江理工大學(xué);2016年

3 李晴;多系統(tǒng)衛(wèi)星導(dǎo)航信號(hào)跟蹤電文處理研究與實(shí)現(xiàn)[D];北京理工大學(xué);2016年

4 張洪宇;北斗衛(wèi)星導(dǎo)航系統(tǒng)定位解算算法的研究[D];哈爾濱理工大學(xué);2015年

5 雷靜;GPS/北斗定位解算算法的研究[D];哈爾濱工程大學(xué);2013年

6 趙彥青;北斗衛(wèi)星導(dǎo)航系統(tǒng)定位算法研究和GDOP分析[D];哈爾濱工程大學(xué);2013年

7 劉詩樂;GPS接收機(jī)PVT解算研究及實(shí)現(xiàn)[D];華南理工大學(xué);2012年

8 王悅;GNSS高靈敏度接收機(jī)解算技術(shù)研究[D];浙江大學(xué);2011年

9 張婷;GPS接收機(jī)導(dǎo)航解算及其DSP實(shí)現(xiàn)[D];西安電子科技大學(xué);2007年

，

本文編號(hào)：1724988