CN108181630A - A kind of Big Dipper double antenna rotates fast orienting method - Google Patents
A kind of Big Dipper double antenna rotates fast orienting method Download PDFInfo
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- CN108181630A CN108181630A CN201711248692.1A CN201711248692A CN108181630A CN 108181630 A CN108181630 A CN 108181630A CN 201711248692 A CN201711248692 A CN 201711248692A CN 108181630 A CN108181630 A CN 108181630A
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses a kind of Big Dipper double antennas to rotate fast orienting method, according to satellite carrier Phase Double difference and the relationship of satellite activity's direction vector and basic lineal vector, pass through the continuous rotation perpendicular to double antenna base direction, calculate the integer ambiguity double difference value in double-differential carrier phase equation, and then basic lineal vector is calculated, finally obtain the course of double antenna baseline；In the case where cycle slip does not occur for satellite-signal, obtained integer ambiguity double difference value continuously effective；It can also be by detecting baseline length error, whether the integer ambiguity double difference value for judging to calculate fails.The method of the present invention calculation amount is small, and directed velocity is fast, and precision is high, real-time.
Description
Technical field
The method that Beidou satellite navigation system is oriented carrier is the present invention relates to the use of, more particularly to a kind of Big Dipper
Double antenna rotates fast orienting method.
Background technology
Beidou satellite navigation system is the Global Satellite Navigation System of China's independent development development, has global, whole day
It waits, continuous navigator fix ability.It can only determine that the position of carrier and speed not can determine that the boat of carrier using single Beidou antenna
To can determine the course of carrier using double Beidou antennas, and its error will not be with time integral, and has positioning function.Make
With double Beidou antenna positioning and directings in navigation aviation, position deploys troops on garrison duty, land survey, has in the army and the people's application field such as construction account
Extensive demand and application prospect.Traditional direction-finding method has magnetic compass, high precision electro gyro repeater, astrogeodetic method etc..Magnetic sieve
Disk precision is low, and stability is poor, and is easily interfered by peripheral electromagnetic field；High precision electro gyro repeater but expensive, initial alignment
Time is long, and error is with time integral；Although astrogeodetic method can accurately obtain geographical north, it installs and uses multiple
Miscellaneous, directive efficiency is not high.
Invention content
Technical problem：The present invention provides a kind of Big Dipper double antenna rotation fast orienting method, and its purpose is to provide one kind
Quickly, conveniently, reliable orientation method.
Technical solution：The Big Dipper double antenna rotation fast orienting method of the present invention, the hardware device implemented include, two
Beidou antenna, two receivers, rotating mechanism, control solving unit；Two Beidou antennas are connect respectively with receiver；Institute
Two receivers stated are connect with control solving unit；The rotating mechanism is connect with resolving control unit；The control resolves
Unit is responsible for calculating baseline course and controls rotating mechanism movement.
Above-mentioned big-dipper satellite primary antenna and basic lineal vector is formed from antenna, direction is directed toward by big-dipper satellite primary antenna from day
Line, principal and subordinate's antenna are installed on rotating mechanism, can be rotated freely；It is closer to the distance due to two big-dipper satellite antennas, so
It can consider big-dipper satellite principal and subordinate antenna to satellite SiDirection vector be parallel；By the zero-bit of above-mentioned rotating mechanism during installation
With basic lineal vector face carrier front, then the course of baseline is exactly the course of carrier.
The Big Dipper double antenna rotation fast orienting method of the present invention, includes the following steps：
1) the carrier phase list difference of big-dipper satellite that big-dipper satellite principal and subordinate's antenna receives simultaneously is calculated according to the following formula
Wherein,Represent big-dipper satellite primary antenna to big-dipper satellite SiCarrier-phase measurement,Represent big-dipper satellite
From antenna to big-dipper satellite SiCarrier-phase measurement, SiRepresent the big-dipper satellite that number is i, i is big-dipper satellite principal and subordinate's antenna
The number of big-dipper satellite received simultaneously；
2) under computed geographical coordinates big-dipper satellite primary antenna to big-dipper satellite SiUnit direction vector Gi；
3) selected in the big-dipper satellite received simultaneously in big-dipper satellite principal and subordinate's antenna the satellite Sj of elevation angle maximum as
Reference satellite calculates the double-differential carrier phase value of big-dipper satellite that big-dipper satellite principal and subordinate's antenna receives simultaneously according to the following formula
Wherein,For reference satellite SjCarrier phase list difference, j is reference satellite number, and i ≠ j；
4) Big Dipper primary antenna is calculated according to the following formula to the unit direction vector of big-dipper satellite Si with arriving reference satellite SjList
The difference G of position direction vectorij：
Gij=Gi-Gj
Wherein, GjFor reference satellite SjUnit direction vector；
5) big-dipper satellite double-differential carrier phase value is calculatedCorresponding integer ambiguity double difference value
6) big-dipper satellite that big-dipper satellite principal and subordinate's antenna receives simultaneously is arranged as S from high to low by elevation angle1、
S2、.....Sn, n represents the big-dipper satellite number that receives simultaneously of principal and subordinate's antenna, and n is more than or equal to 4, S1It is for reference satellite, i.e., high
Spend number of the big-dipper satellite of angle maximum after sequence；
Then basic lineal vector A is calculated using equation below：
A=λ (MTM)-1MTK
Wherein, A is basic lineal vector under geographic coordinate system, and λ is the wavelength of big-dipper satellite carrier phase, []TRepresenting matrix turns
It puts, []-1Representing matrix is inverted,
M=[G21 G31 ...... Gn1]T,G21、G31... and Gn1For the main day of the Big Dipper
Line is to big-dipper satellite SiUnit direction vector with to reference satellite S1 unit direction vector difference, For the big-dipper satellite double-differential carrier phase value that the step 3) is calculated, The big-dipper satellite double-differential carrier phase value being calculated for the step 5)Corresponding complete cycle mould
Paste degree double difference value；
7) baseline course and baseline length are calculated using the basic lineal vector A.
The conversion of the quadrant shown in progress following table is needed through course calculated above.
Further, in the method for the present invention, in the step 2), unit direction vector GiIt is to calculate according to the following formula：
Wherein,For the transformation matrix of geocentric coordinate system to geographic coordinate system,It is big-dipper satellite SiIn geocentric coordinate system
Under coordinate vector, PaIt is coordinate vector of the big-dipper satellite primary antenna in geocentric coordinate system.
Further, in the method for the present invention, in the step 5), integer ambiguity double difference valueIt is to count according to the following formula
It calculates：
Wherein,Double-differential carrier phase value in a whole circle is rotated for baseline, round () represents bracket function, should
Rounding mode is the formula rounding that rounds up, that is, obtains the immediate integer of floating number.
Further, it is the unit direction calculated using step 2) in the step 3) and step 6) in the method for the present invention
Vectorial GiDay to component carry out the size that comparison determines each big-dipper satellite elevation angle, it is big to component, then elevation of satellite is just
Greatly.
Further, in the method for the present invention, in the step 1), big-dipper satellite carrier phase is the carrier wave under same frequency
Phase.
Further, in the method for the present invention, in the step 7), baseline course and baseline length are calculated according to the following formula：
Wherein, x, y, z are vectorial coordinate of the basic lineal vector under the coordinate system of northeast day, are met (x, y, z)TFor the northeast world
Manage basic lineal vector A under coordinate system, H is baseline course, and l is baseline length, and the range in course is (0,2 π), and using north by east as
Just.
Advantageous effect：Compared with prior art, the present invention it has the following advantages：
(1) this method solves integer ambiguity double difference value and existing LAMBDA searching algorithms by the way of baseline rotation
It compares, calculation amount is small, determines that the speed in course is fast.
(2) existing double antenna baseline rotation mode ask course be on the basis of double-differential carrier phase point, baseline to
Amount zero degree position and basic lineal vector turn over the 180 degree position difference that tries again and eliminate integer ambiguity, and it is true that basic lineal vector is then obtained
Vectoring, often the phase of rotating a circle can only calculate the course in a direction to this method, and this method real-time and dynamic property be not strong；This
Inventive method solves integer ambiguity double difference value in a manner that baseline rotates whole circle, and the feelings of cycle slip do not occur in satellite-signal
Under condition, obtained integer ambiguity double difference value continuously effective can continue to calculate course, and real-time and dynamic are strong.
(3) when this method is applied to double antenna short baseline, positioning and orientation system volume smaller can be made, be more convenient to use.
(4) as a result the course that this method calculates carrier using global position system does not have compared with traditional radio compass
The accumulation of error, stable work time are long.
(5) the method use differential techniques, eliminate troposphere, ionosphere, receiver clock-offsets and satellite clock correction error,
Computational solution precision is high.
Description of the drawings
A kind of Big Dipper double antenna orientation method hardware device schematic diagrames of Fig. 1.
A kind of Big Dipper double antenna slewing work flow diagrams of Fig. 2.
During Fig. 3 baseline 30cm, the carrier course figure of resolving is tested.
During Fig. 4 baseline 30cm, experiment resolves baseline length figure.
Specific embodiment
The present invention is further described with reference to embodiment and Figure of description.
As shown in Figure 1, the Big Dipper double antenna rotation fast orienting method of the present invention, the hardware device implemented include, two
A Beidou antenna, two receivers, rotating mechanism, control solving unit；Two Beidou antennas are connect respectively with two receivers；Two connect
Receipts machine is connect with control solving unit；Rotating mechanism is connect with control solving unit；Control solving unit is responsible for calculating baseline boat
It is moved to control rotating mechanism.
In the present embodiment, hardware device using one piece of OEM617D board, two GNSS antennas, rotation direct driving motor and
C6748DSP is implemented.The board can receive the data of two GNSS antennas simultaneously, be equivalent to two Beidou receivers；
It rotates direct driving motor and forms rotating mechanism；The DSP is selected to be responsible for control motor as control solving unit and course calculates.It should
In device, two GNSS antennas are connect with OEM617D boards；OEM617D boards are connect by pin with C6748DSP；DSP leads to
The mode for crossing serial ports instruction controls rotation direct driving motor movement, and obtain motor angle value by encoder interfaces；Two antennas lead to
Stent is crossed to be installed in motor plane；Board and DSP are fixed on motor plane by can；Motor Plane Installation turns in motor
On son；Motor stator is installed in motor base；Power supply and signal are transmitted by conducting slip ring.
A kind of Big Dipper double antenna fast orienting method, includes the following steps in the present embodiment：
1) the carrier phase list difference of big-dipper satellite that big-dipper satellite principal and subordinate's antenna receives simultaneously is calculated
Wherein,Represent big-dipper satellite primary antenna to satellite SiCarrier-phase measurement,Represent big-dipper satellite from antenna
To satellite SiCarrier-phase measurement, SiRepresent the satellite that number is i.
2) under computed geographical coordinates big-dipper satellite primary antenna to big-dipper satellite SiUnit direction vector Gi：
3) the satellite S of elevation angle maximum is selected in the big-dipper satellite received simultaneously in big-dipper satellite principal and subordinate's antennajAs
Reference satellite calculates the double-differential carrier phase value of big-dipper satellite that big-dipper satellite principal and subordinate's antenna receives simultaneously
Wherein,For reference satellite SjCarrier phase list difference, j is reference satellite number, and i ≠ j.
4) Big Dipper primary antenna is calculated to big-dipper satellite SiUnit direction vector with to reference satellite SjUnit direction vector
Difference Gij：
Gij=Gi-Gj
Wherein, GjFor reference satellite SjUnit direction vector.
5) the big-dipper satellite ambiguity of carrier phase double difference value that baseline rotates a whole circle is calculated
6) assume that the big-dipper satellite that big-dipper satellite principal and subordinate's antenna receives simultaneously is arranged as S from high to low by elevation angle1、
S2、.....Sn, n represents the big-dipper satellite number that receives simultaneously of principal and subordinate's antenna, and n is more than or equal to 4, S1For reference satellite, i.e. height
Then number of the big-dipper satellite of angle maximum after sequence calculates basic lineal vector A using equation below：
A=λ (MTM)-1MTK
Wherein, A is basic lineal vector under geographic coordinate system, and λ is the wavelength of big-dipper satellite carrier phase, []TRepresenting matrix turns
It puts, []-1Representing matrix is inverted,
M=[G21 G31 ...... Gn1]T,G21、G31... and Gn1For the main day of the Big Dipper
Line is to big-dipper satellite SiUnit direction vector with to reference satellite S1 unit direction vector difference, For the big-dipper satellite double-differential carrier phase value that step 3) is calculated, The big-dipper satellite double-differential carrier phase value being calculated for step 5)Corresponding integer ambiguity double difference value.
7) the basic lineal vector A calculated according to step 6) calculates course and the baseline length of baseline.
In the preferred embodiment of the present invention, in step 2) according to the following formula under computed geographical coordinates big-dipper satellite primary antenna to northern
Struggle against satellite SiUnit direction vector Gi：
Wherein,For the transformation matrix of geocentric coordinate system to geographic coordinate system,λ is local longitude, and φ is local latitude,It is big-dipper satellite SiOn ground
Coordinate vector under heart coordinate system, PaIt is coordinate vector of the big-dipper satellite primary antenna in geocentric coordinate system.It is above-mentionedIt is to pass through
Receiver satellite ephemeris message, which calculates, to be obtained；Above-mentioned PaIt is converted to by the high position message of longitude and latitude：
Wherein, ReFor earth long axis, f is oblateness of the earth, RNRepresent prime vertical radius, (Ba, La, ha)TRepresent primary antenna report
The longitude and latitude of text output is high, (xa, ya, za)TExpression is converted to primary antenna coordinate under geocentric coordinate system, then obtains geocentric coordinate system
To the transfer matrix of northeast day geographic coordinate system.
In the preferred embodiment of the present invention, in step 5), integer ambiguity double difference valueIt is to calculate according to the following formula：
Wherein, round () represents bracket function, which is the formula rounding that rounds up, that is, obtains floating number and most connect
Near integer.
In the preferred embodiment of the present invention, in step 7), course and the baseline length of baseline are calculated using equation below：
Wherein, x, y, z are vectorial coordinate of the basic lineal vector under the coordinate system of northeast day, i.e., (x, y, z)TIt is geographical for northeast day
Basic lineal vector A under coordinate system, H be baseline course, l is baseline length, and the range in course is (0,2 π), and using north by east as
Just.
In the preferred embodiment of the present invention, need to carry out the conversion of the quadrant shown in following table through course calculated above：
Lubber line error threshold value is used as twice of practical lubber line error, if the lubber line error of Continuous plus can more than the threshold value
Think that the integer ambiguity double difference value calculated in step 5) fails, it is invalid that this calculates course.
The specific workflow figure of this implementation is as shown in Figure 2.The baseline length that this implementation uses is calculated or is obtained for 0.3m
Course as shown in figure 3, base length is as shown in Figure 4.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill of the art
For personnel, without departing from the principle of the present invention, several improvement and equivalent replacement can also be made, these are to the present invention
Claim be improved with the technical solution after equivalent replacement, each fall within protection scope of the present invention.
Claims (6)
1. a kind of Big Dipper double antenna rotates fast orienting method, which is characterized in that this method includes the following steps：
1) the carrier phase list difference of big-dipper satellite that big-dipper satellite principal and subordinate's antenna receives simultaneously is calculated according to the following formula
Wherein,Represent big-dipper satellite primary antenna to big-dipper satellite SiCarrier-phase measurement,Represent big-dipper satellite from day
Line is to big-dipper satellite SiCarrier-phase measurement, SiRepresent number be i big-dipper satellite, i for big-dipper satellite principal and subordinate antenna simultaneously
The number of the big-dipper satellite received；
2) under computed geographical coordinates big-dipper satellite primary antenna to big-dipper satellite SiUnit direction vector Gi；
3) the satellite S of elevation angle maximum is selected in the big-dipper satellite received simultaneously in big-dipper satellite principal and subordinate's antennajIt defends as reference
Star calculates the double-differential carrier phase value of big-dipper satellite that big-dipper satellite principal and subordinate's antenna receives simultaneously according to the following formula
Wherein,For reference satellite SjCarrier phase list difference, j is reference satellite number, and i ≠ j；
4) Big Dipper primary antenna is calculated according to the following formula to big-dipper satellite SiUnit direction vector with to reference satellite SjUnit direction
The difference G of vectorij：
Gij=Gi-Gj
Wherein, GjFor reference satellite SjUnit direction vector；
5) big-dipper satellite double-differential carrier phase value is calculatedCorresponding integer ambiguity double difference value
6) big-dipper satellite that big-dipper satellite principal and subordinate's antenna receives simultaneously is arranged as S from high to low by elevation angle1、S2、
.....Sn, n represents the big-dipper satellite number that receives simultaneously of principal and subordinate's antenna, and n is more than or equal to 4, S1For reference satellite, i.e. elevation angle
Number of the maximum big-dipper satellite after sequence；
Then basic lineal vector A is calculated using equation below：
A=λ (MTM)-1MTK
Wherein, A is basic lineal vector under geographic coordinate system, and λ is the wavelength of big-dipper satellite carrier phase, []TRepresenting matrix transposition,
[]-1Representing matrix is inverted,
G21、G31... and Gn1For Big Dipper master
Antenna is to big-dipper satellite SiUnit direction vector with to reference satellite S1Unit direction vector difference, For the big-dipper satellite double-differential carrier phase value that the step 3) is calculated, The big-dipper satellite double-differential carrier phase value being calculated for the step 5)Corresponding complete cycle
Fuzziness double difference value；
7) baseline course and baseline length are calculated using the basic lineal vector A.
2. Big Dipper double antenna according to claim 1 rotates fast orienting method, which is characterized in that in the step 2),
Unit direction vector GiIt is to calculate according to the following formula：
Wherein,For the transformation matrix of geocentric coordinate system to geographic coordinate system,It is big-dipper satellite SiUnder geocentric coordinate system
Coordinate vector, PaIt is coordinate vector of the big-dipper satellite primary antenna in geocentric coordinate system.
3. Big Dipper double antenna according to claim 1 rotates fast orienting method, which is characterized in that in the step 5),
Integer ambiguity double difference valueIt is to calculate according to the following formula：
Wherein,Double-differential carrier phase value in a whole circle is rotated for baseline, round () represents bracket function, the rounding
Mode is the formula rounding that rounds up, that is, obtains the immediate integer of floating number.
4. the Big Dipper double antenna rotation fast orienting method according to claim 1,2 or 3, which is characterized in that the step
3) it is the unit direction vector G calculated using step 2) and in step 6)iDay carry out comparison to component and determine that each big-dipper satellite is high
Spend the size at angle.
5. the Big Dipper double antenna rotation fast orienting method according to claim 1,2 or 3, which is characterized in that the step
1) in, big-dipper satellite carrier phase is the carrier phase under same frequency.
6. the Big Dipper double antenna rotation fast orienting method according to claim 1,2 or 3, which is characterized in that the step
7) in, baseline course and baseline length are calculated according to the following formula：
Wherein, x, y, z are vectorial coordinate of the basic lineal vector under the coordinate system of northeast day, i.e., (x, y, z)TFor northeast day geographical coordinate
System lower basic lineal vector A, H are baseline course, and l is baseline length, and the range in course is (0,2 π), and using north by east as just.
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| CN111221016A (en) * | 2020-02-15 | 2020-06-02 | 江苏大学 | Six-antenna short-baseline GNSS rapid orientation device and method |
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| CN113126022A (en) * | 2021-04-14 | 2021-07-16 | 成都金诺信高科技有限公司 | Double-antenna positioning and direction-finding method |
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| CN109556604A (en) * | 2018-11-20 | 2019-04-02 | 东南大学 | A kind of positioning and orienting device rotating the short baseline double antenna of MIMU/GNSS |
| CN109490932A (en) * | 2018-12-26 | 2019-03-19 | 上海司南卫星导航技术股份有限公司 | Judge method, OEM board, receiver and the storage medium of RTK orientation result reliability |
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| CN111352143A (en) * | 2020-03-23 | 2020-06-30 | 四川航天系统工程研究所 | Beidou double-antenna rapid orientation method |
| CN111323804A (en) * | 2020-04-22 | 2020-06-23 | 北京国泰星云科技有限公司 | Ship attitude measurement equipment and measurement method based on Beidou system |
| CN111323804B (en) * | 2020-04-22 | 2023-08-29 | 北京国泰星云科技有限公司 | Ship attitude measurement equipment and measurement method based on Beidou system |
| CN113126022A (en) * | 2021-04-14 | 2021-07-16 | 成都金诺信高科技有限公司 | Double-antenna positioning and direction-finding method |
| CN113126022B (en) * | 2021-04-14 | 2023-11-03 | 成都金诺信高科技有限公司 | Double-antenna positioning direction-finding method |
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