【摘要】：基于GNSS相對定位,具有低成本,全天候,高精度等優(yōu)點,在陸、海、空、天領域得到了廣泛的應用。同時,基于GNSS姿態(tài)確定相比于其它現(xiàn)代姿態(tài)測量設備而言,具有價格低廉、維護成本低,且無累計誤差等優(yōu)點,是當前空天導航系統(tǒng)中重點的研究領域。然而,不管是基于GNSS相對定位系統(tǒng),還是基于GNSS姿態(tài)測量系統(tǒng),通常都是分開處理的。這種分而治之的方式?jīng)]有考慮到平臺和平臺之間的基線約束條件,限制了定位和定姿精度的提高。本文深入研究平臺多基線限制對定位和定姿的影響,通過對基線限制信息的有效利用,以及綜合利用定位和定姿模糊度信息,在提高相對定位精度的同時,提高姿態(tài)輸出精度。首先,在數(shù)據(jù)預處理部分,重新設計了天線構型,解決了單平臺姿態(tài)輸出某一姿態(tài)誤差顯著大于另兩個姿態(tài)誤差的問題。同時改進了周跳探測與修復算法,改進后的算法能夠?qū)晤l、雙頻和三頻信號進行周跳檢測和修復。其次,模糊度解算性能的提高。分析了不同星座(GPS、BDS、GPS+BDS)選擇對模糊度解算性能的影響。改進搜索收斂法,提高了仿射約束模型姿態(tài)模糊度解算性能。同時也分析了限制基線對非限制基線基線估計模糊度解算成功率的影響。最后,對比了AC-AM姿態(tài)確定算法、直接姿態(tài)確定算法和載波平滑偽距算法姿態(tài)輸出精度的差異,由于基線限制和算法改進,其精度明顯高于前兩種姿態(tài)確定算法。此外還將姿態(tài)確定模塊中的模糊度信息引入相對位置解算模塊,仿真結果表明引入姿態(tài)模糊度信息后,相對定位的精度有了很大的提高。
[Abstract]:Based on GNSS relative positioning, it has the advantages of low cost, all-weather, high precision, and has been widely used in land, sea, air and sky fields. At the same time, compared with other modern attitude measurement devices, attitude determination based on GNSS has the advantages of low price, low maintenance cost and no accumulated error. However, whether it is based on GNSS relative positioning system or based on GNSS attitude measurement system, it is usually handled separately. This divide-and-conquer approach does not take into account the baseline constraints between the platform and the platform, which limits the accuracy of positioning and attitude determination. In this paper, the effect of multi-baseline limitation on positioning and attitude determination is deeply studied. Through the effective use of baseline restriction information and the comprehensive use of location and attitude ambiguity information, the relative positioning accuracy is improved and the attitude output accuracy is improved at the same time. Firstly, in the part of data preprocessing, the antenna configuration is redesigned to solve the problem that the error of one attitude output from a single platform is significantly larger than that of the other two. At the same time, the cycle slip detection and repair algorithm is improved. The improved algorithm can detect and repair the cycle slip of single frequency, double frequency and three frequency signals. Secondly, the ambiguity resolution performance is improved. The influence of different constellations (GPS BDS BDS) on ambiguity resolution is analyzed. The search convergence method is improved to improve the solution performance of affine constraint model attitude ambiguity. At the same time, the effect of restricted baseline on the success rate of ambiguity resolution in unconstrained baseline estimation is analyzed. Finally, the difference of attitude output accuracy between AC-AM attitude determination algorithm, direct attitude determination algorithm and carrier smoothing pseudo-range algorithm is compared. Because of the baseline limitation and the improvement of the algorithm, the accuracy is obviously higher than that of the first two attitude determination algorithms. In addition, the ambiguity information in the attitude determination module is introduced into the relative position calculation module. The simulation results show that the precision of relative positioning has been greatly improved with the introduction of the attitude ambiguity information.
【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V249.3;V448.2

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