CN104730551B - Space-ground bistatic differential interferometry baseline coordinate and deformation quantity measurement method - Google Patents
Space-ground bistatic differential interferometry baseline coordinate and deformation quantity measurement method Download PDFInfo
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- CN104730551B CN104730551B CN201510107459.6A CN201510107459A CN104730551B CN 104730551 B CN104730551 B CN 104730551B CN 201510107459 A CN201510107459 A CN 201510107459A CN 104730551 B CN104730551 B CN 104730551B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
Abstract
The invention discloses a space-ground bistatic differential interferometry baseline coordinate and deformation quantity measurement method. S satellites are adopted to emit signals to a base station and a measurement station, the measurement station is arranged at the position needing coordinate measurement or deformation quantity measurement, frequency mixing processing is carried out on phase positions of direct-wave signals and phase positions of intrinsic signals as well as phase positions of signals of the measurement station and the phase positions of the intrinsic signals in the base station, and the direct-wave signal phase position history and the measurement station signal phase position history are obtained; the spatial difference phase of a direct-wave azimuth signal and a measurement station azimuth signal is worked out; when coordinate measurement is carried out, a reference satellite is selected, intersatellite difference is carried out on the spatial difference phase between a navigation satellite and the reference satellite, an intersatellite difference equation set is obtained and compensated, and an estimated value of a baseline coordinate is obtained after resolution. When deformation quantity measurement is carried out, difference is carried out on the spatial difference phases of the adjacent time periods, a time differential equation set is obtained and compensated, and a deformation quantity coordinate is obtained after resolution. The method is high in precision, low in cost and successive in time.
Description
Technical field
The invention belongs to Radar Signal Processing Technology field.
Background technology
Differential GPS (DGPS) arranges measurement by the use of aeronautical satellite as flat pad at the position for needing to measure coordinate
Standing differential GPS, the differential GPS of base station being arranged in another location, two DGPS receive navigation signal simultaneously, using ionosphere, right
Fluid layer time delay and the common mode characteristic of ephemeris equal error, using high-precision carrier phase, eliminate common-mode error by difference processing,
So as to the high accuracy for realizing measured value coordinate is estimated, then the deformation carried out by time difference to measuring station relative to base station is entered
Row is monitored in real time.
Multiple measuring stations although a base station can be arranged in pairs or groups, due to measuring during coordinate, are required in each measuring station
One DGPS equipment of arrangement.And DGPS equipment costs are higher, extensively application is not easy to.
Therefore, a kind of deformation monitoring method of low cost is developed, it is significant for high accuracy distortion measurement field.
The content of the invention
In view of this, the invention provides a kind of baseline coordinate measuring method of bistatic differential interferometry, using transponder
The measurement of baseline coordinate is realized, its high precision, low cost and Time Continuous.In order to achieve the above object, technical side of the invention
Case is：
Using S satellite to base station and measuring station transmission signal, needing to carry out at measurement of coordinates, placing measuring station, base
Quasi- station is set to radar, receives the direct-path signal that every aeronautical satellite is sent；Measuring station is set to transponder, and transponder is received
The signal of every aeronautical satellite, the signal are forwarded to base station as measuring station signal；Space is set up as origin using base station
Coordinate system, the method are comprised the following steps that：
Step one：In base station, the phase place of direct-path signal is mixed with base station Radar Local-oscillator signal phase
Process, obtain direct-path signal phase history.
The phase place of measuring station signal and base station Radar Local-oscillator signal phase are carried out into Frequency mixing processing, measuring station signal is obtained
Phase history.
Step 2：Respectively direct-path signal phase history is matched with measuring station signal phase history using ranging code
The signal phase at peak value is filtered and extracted, the orientation signal S of direct-path signal is obtained respectivelyR1With the orientation of measuring station signal
To signal St1。
Step 3：By SR1And St1Conjugate multiplication, to realize the space difference between base station and measuring station.
Step 4：Signal obtained in step 3 is carried out into matched filtering process, and obtains the phase place at peak value, as
Space differential phase.
Step 5：An aeronautical satellite is selected as reference satellite, by the sky of other aeronautical satellites except reference satellite
Between differential phase deduct the space differential phase of reference satellite, that is, it is poor between the star between aeronautical satellite and reference satellite to realize
Point, obtain DIFFERENCE EQUATIONS between star.
Step 6：For DIFFERENCE EQUATIONS between star, one baseline caused by the distance of base station to measuring station of compensation prolongs
Slow corresponding phase place.
Step 7：For the space DIFFERENCE EQUATIONS after step 6 compensation carries out integer least square estimation, baseline is obtained
The estimate of coordinate.
Further, in step 4, using the rough measure position according to measuring station and the ginseng of reference satellite placement configurations
Examining the signal obtained in function pair step 3 carries out matched filtering process.
Invention also provides a kind of deformation measuring method of bistatic differential interferometry, realizes deformation using transponder
Measurement function, with high accuracy, low cost, the advantage of Time Continuous is that high accuracy distortion measurement improves technical support.
In order to achieve the above object, the technical scheme is that：Using S satellite to base station and measuring station transmitting letter
Number, at required measurement deformation, measuring station is set, base station is set to radar, receives the direct wave letter that every aeronautical satellite is sent
Number；Measuring station is set to transponder, and transponder receives the signal of every aeronautical satellite, and the signal is forwarded to as measuring station signal
Base station；Space coordinates are set up as origin using base station, the method is comprised the following steps that：
Step 1：The phase place of direct-path signal and base station Radar Local-oscillator signal phase are carried out into Frequency mixing processing, is gone directly
Ripple signal phase history.
The phase place of measuring station signal is carried out into Frequency mixing processing with base station Radar Local-oscillator signal phase, measuring station letter is obtained
Number phase history.
Step 2：Respectively direct-path signal and measuring station signal are carried out by matched filtering and extracted at peak value using ranging code
Signal phase, respectively obtain direct-path signal orientation signal SR1With the orientation signal S of measuring station signalt1。
Step 3：By SR1And St1Conjugate multiplication, to realize the space difference between base station and measuring station.
Step 4：Signal obtained in step 3 is carried out into matched filtering and takes phase place at peak value, as space parallax split-phase
Position.
Step 5：By the space differential phase obtained in step 4, difference is carried out to the space differential phase of time adjacent segments,
Obtain time difference equation group.
Step 6：For time difference equation group, a baseline delay caused due to the distance of satellite to measuring station is compensated
Corresponding phase place.
Step 7：The baseline coordinate of measuring station is obtained using method as claimed in claim 1, and in the base of known base line coordinate
On plinth, time difference equation group is solved, obtain deformation quantity coordinate.
Further, in step 4, the essence of the measuring station obtained using baseline coordinate measuring method as claimed in claim 1
Really the reference function of position and reference satellite position jointly constructs is carried out at matched filtering to the signal obtained in step 3
Reason.
Beneficial effect：
1st, the present invention proposes a kind of bistatic differential interferometry baseline coordinate measuring method in star ground based on aeronautical satellite, should
The signal of many aeronautical satellites is turned using transponder by technical scheme by placing transponder at the position for needing to measure coordinate
Base station is sent to, base station carries out space parallax to many received aeronautical satellite direct-path signals and transponder signal simultaneously
Divide and time integral, fully to eliminate common-mode error and improve signal to noise ratio, then by differential configuration double-difference equation between star, solve
To the estimate of baseline coordinate.
2nd, the present invention proposes a kind of bistatic differential interferometry deformation measuring method in star ground based on aeronautical satellite, the skill
The signal of many aeronautical satellites is forwarded using transponder by art scheme by placing transponder at the position for needing to measure deformation
To base station, base station carries out space difference to many received aeronautical satellite direct-path signals and transponder signal simultaneously
And time integral, fully to eliminate common-mode error and improve signal to noise ratio, then built with regard to deformation quantity by time difference again
Double-difference equation, resolves to the double-difference equation of multi-satellite composition, realizes that high-precision deformation is estimated.
Description of the drawings
Fig. 1 is system configuration schematic diagram.
Fig. 2 is algorithm general flow chart.
Fig. 3 is that baseline coordinate estimates flow chart
Fig. 4 is that deformation quantity estimates flow chart
Specific embodiment
Develop simultaneously embodiment below in conjunction with the accompanying drawings, describes the present invention.
Embodiment 1, as shown in figure 1, using S satellite to base station and measuring station transmission signal, base is carried out to measuring station
Directrix measurement of coordinates, base station are set to radar, receive the direct-path signal that every aeronautical satellite is sent；Measuring station is set to turn
Device is sent out, transponder receives the signal of every aeronautical satellite, and the signal is forwarded to base station as measuring station signal；Made with base station
Space coordinates are set up for origin, the flow process of this method is illustrated in figure 2, the method includes two parts, respectively measuring station
Coordinate estimates the estimation flow process of flow process and deformation quantity, and wherein step one～step 7 estimates flow process such as Fig. 3 for the coordinate of measuring station,
The method is comprised the following steps that：
Step one, the phase place of direct-path signal and base station Radar Local-oscillator signal phase are carried out Frequency mixing processing, obtain straight
Arrived wave signal phase history；By the phase place of measuring station signal and Frequency mixing processing is carried out with base station Radar Local-oscillator signal phase, obtain
Obtain measuring station signal phase history.
The present embodiment is illustrated to the step one with specific transmission signal：
If the phase place of transmission signal is：
Wherein, t is the time, f0For nominal carrier frequency, Δ fT(τ) it is time varying frequency error, τ is integration parameter,For first
Phase.
The signal phase that transponder is received is：
Wherein,Represent the error of the introducings such as ionosphere, troposphere, ephemeris.RmT () arrives measuring station for satellite
Distance.
Radar Local-oscillator signal phase is：
Wherein, Δ f1(τ) it is the time-varying error of receiver local frequency.For the initial phase of receiver local oscillator.
The satellite direct-path signal that radar is received is：
Wherein,Represent the error of the introducings such as emitter local oscillator, ionosphere, troposphere, ephemeris, RrefT () is
Distance of the radar to satellite.
After the signal for receiving is mixed, phase history is：
Wherein, the phase place that the time delay from satellite to radar is introduced：
The synchronous error that radar receiver is introduced：
The synchronous error that emitter is introduced：
Radar receives the signal phase of transponder：
Wherein, τtdFor transponder time delay, RtT () is distance of the radar to transponder.
After the transponder signal for receiving is mixed, phase history is obtained：
Expansion can be obtained：
Wherein：
The phase place that the time delay from satellite to transponder is introduced is represented, can be written as：
The phase place that the time delay from radar to transponder is introduced is represented, can be written as：
Represent the phase place that transponder device time delay is caused.
For launching the phase place that local frequency error is introduced, can be written as：
Step 2：Respectively direct-path signal and measuring station signal are carried out by matched filtering and extracted at peak value using ranging code
Signal phase, respectively obtain direct-path signal orientation signal SR1With the orientation signal S of measuring station signalt1。
In the present embodiment, direct wave phase history and transponder echo-signal phase history are matched using CA codes
Filter and extract the signal phase at peak value.If the corresponding signal phase of direct wave is：
Wherein, wR1T () is the noise in the corresponding signal phase of direct wave, NR1T () is the corresponding signal phase of direct wave
In integer ambiguity.
Signal phase at transponder migration curve location is：
Wherein, wt1The noise of (t) for the signal phase at transponder migration curve location, Nt1T () is that transponder migration is bent
The integer ambiguity of the signal phase at line position.
Ignore amplitude, the orientation signal of direct wave is：
Transponder is：
Step 3：By SR1And St1Conjugate multiplication, to realize the space difference between base station and measuring station.
If：
Wherein,
Wherein, by the synchronous error of emitter introducing it is：
As the local oscillator stability of satellite is very high, and between Jing stands after difference, the time of integration of formula is very short, therefore can recognize
ForThis also indicates that difference can eliminate satellite clock correction well between station.
Distance between base station and transponder very close in the case of, ionosphere etc. in transponder and direct-path signal
Error be believed that it is identical, i.e.,：
So, have：
It can be seen that, space difference eliminates the first phase of transmitting-receiving local oscillator, the synchronous error of transmitting-receiving local oscillator and radar station and forwarding
Corresponding ionospheric error of device etc..But remain the error of transponder device latencies introducing.And the geometric position information of transponder
Then it is retained inIn.
Step 4：Signal obtained in step 3 is carried out into matched filtering and takes phase place at peak value, as space difference
Phase place.
In the present embodiment, if the rough position of transponder is：
Actual position (before deformation) is：
Satellite reference position is：
Position and reference satellite placement configurations reference function according to transponder is：
S1_ref(t)=exp [j θref_c(t)] (27)
Wherein, θref_cT () is the corresponding phase place of dual station range difference；
Using S1_refT () is as reference function to S1T () carries out matched filtering process, obtain phase place at peak value and be：
Wherein, t1Represent aperture center moment, wpeak(t1) it is t1Moment peak noise, Npeak(t1) it is t1Moment S1(t) peak
Integer ambiguity at value.
Within another time period, through same treatment, obtaining peak phase is：
Wherein, t2Represent aperture center moment, wpeak(t2) it is t2Moment peak noise, Npeak(t2) it is t2Moment S1(t) peak
Integer ambiguity at value.
Step 5：An aeronautical satellite is selected as reference satellite, by the sky of other aeronautical satellites except reference satellite
Between differential phase deduct the space differential phase of reference satellite, that is, it is poor between the star between aeronautical satellite and reference satellite to realize
Point, obtain DIFFERENCE EQUATIONS between star.
It is reference satellite for example to choose satellite j, to the peak phase θ after the matched filtering of satellite i and jpeak(t1) poor
Office is managed, and obtains：
It can be seen that, between star, difference eliminates the phase place that the phase place of transponder time delay introducing and baseline are introduced.
Step 6：For DIFFERENCE EQUATIONS between star, one baseline caused by the distance of base station to measuring station of compensation prolongs
Slow corresponding phase place.
In the present embodiment, in the signal received due to base station, the corresponding phase place of distance of satellite to transponder is：
I.e. many baseline delay times, analysis understand that the time can cause the error of most about 1.2cm, for
For high-precision estimation, should compensate.
Formula (30) is carried out transplanting and can be obtained：
If：
So, have：
Step 7：For the space DIFFERENCE EQUATIONS after step 6 compensation carries out integer least square estimation, baseline is obtained
The estimate of coordinate.
The equation left side is observation, the item of arteface and can estimate the item for obtaining when processing, on the right of equation and DGPS
Double difference it is the same.Therefore, the processing method that can apply mechanically DGPS is estimated to survey station coordinate, due to being ripe algorithm,
Here omit.
Embodiment 2, as shown in figure 1, using S satellite to base station and measuring station transmission signal, shape is carried out to measuring station
Become measurement, base station is set to radar, receives the direct-path signal that every aeronautical satellite is sent；Measuring station is set to transponder,
Transponder receives the signal of every aeronautical satellite, and the signal is forwarded to base station as measuring station signal；Using base station as original
Point sets up space coordinates, is illustrated in figure 2 the flow process of this method, and the method includes two parts, the respectively coordinate of measuring station
Estimate the estimation flow process of flow process and deformation quantity, the measurement procedure of deformation quantity such as Fig. 4 in the present embodiment, wherein step 1～step 4 and
Step one in embodiment 2～step 4 correspondent equal, step 5～step 7 are respectively：
Step 5：It is by the space differential phase obtained in step 4, poor to the space differential phase of time adjacent segments
Point, obtain time difference equation group；
After estimation obtains baseline coordinate, that is, carry out deformation quantity estimation.In the step, difference and matched filtering part between standing
Repeat with measurement survey station coordinate schemes, difference is only that, in survey station coordinate schemes, transponder position used is rough position,
And used in distortion measurement be transponder more accurate position, therefore repeat no more, repeating part be referred to as into distortion measurement
Pretreatment.
Time difference is carried out to the phase place after matched filtering, is obtained：
Wherein：
Npeak(t1,t2)=Npeak(t1)-Npeak(t2) (37)
w(t1,t2)=wpeak(t1)-wpeak(t2) (38)
SEE time difference eliminates the delay of transponder introducing.Time difference is remainedThis contains
Deformation data.
If t2Relative to t1Deformation is there occurs, deformation vector is：
If the position vector that transponder has error is：
May certify that, when the site error of time interval, survey station meets certain condition, it is believed that：
Npeak(t1,t2)=Npeak(t1)-Npeak(t2)=0 (41)
Now have：
Step 6：For time difference equation group, a baseline delay caused by the distance of base station to measuring station is compensated
Corresponding phase place.
In the signal received due to base station, the corresponding phase place of distance of satellite to transponder is：
I.e. many baseline delay times, the time can cause certain error, affect estimated accuracy, therefore should enter
Row compensation.
If：
If：
Wherein, subscript i represents satellite number.
(45) are substituted into (46) to obtain：
It can be seen that, in formula (47), containing delay errorItem is not contained delay errorReplaced.
Step 7：Solved for time difference equation group, obtained deformation quantity coordinate.
Formula (47) is launched and is done approximately obtain：
Wherein：
Then least-squares estimation is：
Wherein：
To sum up, presently preferred embodiments of the present invention is these are only, is not intended to limit protection scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc. should be included in the protection of the present invention
Within the scope of.
Claims (4)
1. the bistatic differential interferometry baseline coordinate measuring method in a kind of star ground, it is characterised in that using S satellite to base station and
Measuring station transmission signal, is needing to carry out placing measuring station at measurement of coordinates, and the base station is set to radar, receives per and leads
The direct-path signal that boat satellite is sent；The measuring station is set to transponder, and transponder receives the signal of every aeronautical satellite, should
Signal is forwarded to base station as measuring station signal；Space coordinates, the method concrete steps are set up as origin using base station
It is as follows：
Step one：In base station, the phase place of the direct-path signal is mixed with base station Radar Local-oscillator signal phase
Process, obtain direct-path signal phase history；
The phase place of the measuring station signal and base station Radar Local-oscillator signal phase are carried out into Frequency mixing processing, measuring station signal is obtained
Phase history；
Step 2：Respectively the direct-path signal phase history is carried out with the measuring station signal phase history using ranging code
Matched filtering simultaneously extracts the signal phase at peak value, obtains the orientation signal S of direct-path signal respectivelyR1With measuring station signal
Orientation signal St1；
Step 3：By SR1And St1Conjugate multiplication, to realize the space difference between base station and measuring station；
Step 4：Signal obtained in step 3 is carried out into matched filtering process, and obtains the phase place at peak value, as space
Differential phase；
Step 5：An aeronautical satellite is selected as reference satellite, by the space parallax of other aeronautical satellites except reference satellite
Split-phase position deducts the space differential phase of reference satellite, that is, realize difference between the star between aeronautical satellite and reference satellite, obtain
Obtain DIFFERENCE EQUATIONS between star；
Step 6：For DIFFERENCE EQUATIONS between the star, one baseline caused by the distance of base station to measuring station of compensation prolongs
Slow corresponding phase place；
Step 7：For the space DIFFERENCE EQUATIONS after step 6 compensation carries out integer least square estimation, baseline coordinate is obtained
Estimate.
2. the bistatic differential interferometry baseline coordinate measuring method in a kind of star ground as claimed in claim 1, it is characterised in that described
In step 4, using the rough measure position of foundation measuring station and the reference function of reference satellite placement configurations to institute in step 3
The signal of acquisition carries out matched filtering process.
3. the bistatic differential interferometry deformation measuring method in a kind of star ground, it is characterised in that using S satellite to base station and survey
Amount station transmission signal, arranges measuring station at required measurement deformation, and the base station is set to radar, receives every aeronautical satellite
The direct-path signal sent；The measuring station is set to transponder, and transponder receives the signal of every aeronautical satellite, and the signal is made
Base station is forwarded to for measuring station signal；Space coordinates are set up as origin using base station, the method is comprised the following steps that：
Step 1：The phase place of the direct-path signal and base station Radar Local-oscillator signal phase are carried out into Frequency mixing processing, is gone directly
Ripple signal phase history；
The phase place of the measuring station signal and base station Radar Local-oscillator signal phase are carried out into Frequency mixing processing, measuring station signal is obtained
Phase history；
Step 2：Matched filtering is carried out with the measuring station signal to the direct-path signal respectively using ranging code and peak is extracted
Signal phase at value, obtains the orientation signal S of direct-path signal respectivelyR1With the orientation signal S of measuring station signalt1；
Step 3：By SR1And St1Conjugate multiplication, to realize the space difference between base station and measuring station；
Step 4：Signal obtained in step 3 is carried out into matched filtering and takes phase place at peak value, as space differential phase；
Step 5：By the space differential phase obtained in the step 4, difference is carried out to the space differential phase of time adjacent segments,
Obtain time difference equation group；
Step 6：For the time difference equation group, a baseline delay caused by the distance of base station to measuring station is compensated
Corresponding phase place；
Step 7：The baseline coordinate of measuring station is obtained using the method for claim 1, and in the base of known base line coordinate
On plinth, time difference equation group is solved, obtain deformation quantity coordinate.
4. a kind of bistatic differential interferometry deformation measuring method in star ground as claimed in claim 3, it is characterised in that the step
In rapid 4, the exact position of the measuring station obtained using baseline coordinate measuring method as claimed in claim 1 and reference
The reference function of satellite position jointly constructs carries out matched filtering process to the signal obtained in step 3.
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| ES2952860T3 (en) * | 2017-04-03 | 2023-11-06 | Centre Nat Etd Spatiales | Relay vehicle to transmit positioning signals to mobile units and corresponding procedure |
| CN108548524A (en) * | 2018-04-22 | 2018-09-18 | 北京工业大学 | A kind of GPS positioning frame structure and monitoring method for riverbed sedimentation and deformation |
| CN109669196B (en) * | 2019-02-21 | 2022-07-12 | 哈尔滨工程大学 | Multi-antenna GNSS carrier phase precision attitude measurement method considering baseline deformation |
| CN110133661B (en) * | 2019-05-15 | 2021-10-29 | 成都锦江电子系统工程有限公司 | Phase process modeling compensation coherent accumulation signal-to-noise ratio loss method |
| CN113253237B (en) * | 2021-07-13 | 2021-09-17 | 中国人民解放军国防科技大学 | Railway contact net measuring method and system based on radar system |
| CN115436905B (en) * | 2022-09-30 | 2023-07-18 | 中国科学院空天信息创新研究院 | Baseline estimation method and system based on passive receiving system and electronic equipment |
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