CN110793518A - Positioning and attitude determining method and system for offshore platform - Google Patents

Positioning and attitude determining method and system for offshore platform Download PDF

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Publication number
CN110793518A
CN110793518A CN201911093735.2A CN201911093735A CN110793518A CN 110793518 A CN110793518 A CN 110793518A CN 201911093735 A CN201911093735 A CN 201911093735A CN 110793518 A CN110793518 A CN 110793518A
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attitude
phase center
receiver antenna
speed
antenna
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CN110793518B (en
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高周正
吕洁
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China University of Geosciences Beijing
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China University of Geosciences Beijing
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope
    • 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
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

The invention discloses a positioning and attitude-determining method and a system for an offshore platform, which are applied to a positioning and attitude-determining device for the offshore platform; the device comprises a six-axis inertia measurement unit and a double-antenna double-frequency Beidou receiver; the method comprises the following steps: obtaining the positions of the two antennas relative to the six-axis inertial measurement unit to obtain the relative position of the first antenna and the relative position of the second antenna; calculating the relative positions of the phase centers of the two antennas relative to the measurement center of the six-axis inertia measurement unit according to the two relative positions to obtain two relative positions of the phase centers; and respectively calculating the positions, speeds and postures of the two antenna phase centers according to the relative positions of the two phase centers based on a close-coupled rationale of the precise single-point positioning and inertial navigation system to determine the heading angle of the platform, and determining the position, speed and posture of the offshore platform by adopting a close-coupled theory of the precise single-point positioning and inertial navigation system based on the heading angle constraint under the constraint of the heading angle of the platform. The invention can improve the positioning and attitude-determining precision of the offshore platform.

Description

Positioning and attitude determining method and system for offshore platform
Technical Field
The invention relates to the field of positioning and attitude determination, in particular to a positioning and attitude determination method and a positioning and attitude determination system for an offshore platform.
Background
The precise pose information is one of the core technologies of modern industrial production. The traditional precision Positioning method is a differential Positioning technology based on a GPS (Global Positioning System)/GNSS (Global Navigation satellite System), and the Positioning method mainly utilizes the characteristic of strong spatial correlation of errors on two GPS/GNSS stations at a short distance (generally less than 10km), and eliminates the influence of errors on Positioning through a double-difference model, thereby obtaining high-precision position information. However, with the increase of the baseline distance, the spatial correlation of the error is rapidly weakened, and the differential positioning can only reach sub-meter level or even meter level, which is difficult to meet the positioning accuracy requirement of centimeter level. In the aspect of attitude determination, the traditional attitude determination technology generally adopts multi-baseline GPS attitude determination and high-precision gyroscope attitude determination. When the former is far away from the base station, the baseline resolving accuracy is reduced, so that the attitude determination accuracy is reduced. The attitude determination accuracy of the high-precision gyroscope is reduced or even dispersed along with the increase of the working time due to the time accumulation of the hardware error of the gyroscope. For the positioning and attitude determination of the offshore platform, particularly for the open sea area far away from the coastline, the conventional positioning and attitude determination method can only meet the requirement of low precision.
Disclosure of Invention
The invention aims to provide a positioning and attitude-determining method and a positioning and attitude-determining system for an offshore platform, which improve the positioning and attitude-determining precision of the offshore platform.
In order to achieve the purpose, the invention provides the following scheme:
a positioning and attitude-determining method of an offshore platform is applied to a positioning and attitude-determining device of the offshore platform; the device comprises a six-axis inertia measurement unit, a Beidou dual-antenna dual-frequency receiver, a first receiver antenna and a second receiver antenna, wherein the first receiver antenna and the second receiver antenna are connected with the Beidou dual-antenna dual-frequency receiver; three coordinate axes of a first space three-dimensional rectangular coordinate system of the six-axis inertia measurement unit are respectively parallel to three coordinate axes of a second space three-dimensional rectangular coordinate system of the offshore platform; a connecting line of the projections of the first receiver antenna and the second receiver antenna on the offshore platform is parallel to an x axis of the first space three-dimensional rectangular coordinate system; the first space three-dimensional rectangular coordinate system takes the measurement center of the six-axis inertia measurement unit as an origin;
the positioning and attitude determination method comprises the following steps:
obtaining the positions of the first receiver antenna and the second receiver antenna relative to the six-axis inertial measurement unit in the first space three-dimensional rectangular coordinate system to obtain the relative position of the first antenna and the relative position of the second antenna;
calculating the relative position of the phase center of the first receiver antenna relative to the measurement center of the six-axis inertial measurement unit according to the relative position of the first antenna based on the rotation and translation principle of a space coordinate system to obtain a first phase center relative position;
calculating the relative position of the phase center of the second receiver antenna relative to the measurement center of the six-axis inertial measurement unit according to the relative position of the second antenna based on the rotation and translation principle of a space coordinate system to obtain a second phase center relative position;
calculating the position, the speed and the attitude of the first receiver antenna phase center according to the relative position of the first phase center based on a close-coupled rationale of a precise single-point positioning and inertial navigation system;
calculating the position, the speed and the attitude of the antenna phase center of the second receiver according to the relative position of the second phase center based on the tight combination theory of the precise single-point positioning and the inertial navigation system;
and determining a heading angle of the platform according to the position, the speed and the attitude of the phase center of the first receiver antenna and the position, the speed and the attitude of the phase center of the second receiver antenna, and determining the position, the speed and the attitude of the offshore platform by adopting a precise single-point positioning and inertial navigation system tight combination theory based on the heading angle constraint under the constraint of the heading angle of the platform.
Optionally, the calculating the position, the speed, and the attitude of the phase center of the first receiver antenna according to the relative position of the first phase center based on a close-coupled rationale of a precise single-point positioning and inertial navigation system specifically includes:
calculating the position, the speed and the attitude of a measurement center of the six-axis inertia measurement unit at the current moment under a navigation coordinate system according to an inertial navigation system mechanical arrangement function model by using the angular velocity increment and the linear velocity increment of the six-axis inertia measurement unit to obtain a first position, a first speed and a first attitude;
calculating the position, the speed and the attitude of the first receiver antenna under a geocentric geostationary coordinate system according to the relative position of the first phase center, the current attitude rotation matrix, the first position, the first speed and the first attitude to obtain a second position, a second speed and a second attitude;
predicting the observed theoretical distance from the phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna and the observed theoretical distance change rate from the phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna by using the second position and the second speed and combining satellite orbit and clock error data to obtain a first theoretical distance and a first theoretical distance change rate;
estimating a first state parameter modifier vector using Kalman filtering based on the first theoretical range, the first theoretical range rate of change, and pseudorange, carrier, and Doppler data observed by the first receiver antenna;
and calculating the position, the speed and the attitude of the phase center of the first receiver antenna at the current moment according to the first state parameter correction vector, the second position, the second speed and the second attitude.
Optionally, the calculating the position, the speed, and the attitude of the phase center of the second receiver antenna according to the relative position of the second phase center based on a theory of close combination of precise single-point positioning and an inertial navigation system specifically includes:
calculating the position, the speed and the attitude of a measurement center of the six-axis inertia measurement unit at the current moment under a navigation coordinate system according to an inertial navigation system mechanical arrangement function model by using the angular velocity increment and the linear velocity increment of the six-axis inertia measurement unit to obtain a first position, a first speed and a first attitude;
calculating the position, the speed and the attitude of the second receiver antenna under the geocentric geostationary coordinate system according to the relative position of the first phase center, the current attitude rotation matrix, the first position, the first speed and the first attitude to obtain a third position, a third speed and a third attitude;
predicting the observed theoretical distance from the phase center of the transmitting antenna of the Beidou satellite to the phase center of the second receiver antenna and the observed theoretical distance change rate from the phase center of the transmitting antenna of the Beidou satellite to the phase center of the second receiver antenna by using the third position and the third speed and combining satellite orbit and clock error data to obtain a second theoretical distance and a second theoretical distance change rate;
estimating a second state parameter modifier vector using Kalman filtering based on the second theoretical range, the second theoretical range rate of change, and pseudorange, carrier, and Doppler data observed by the second receiver antenna;
and calculating the position, the speed and the attitude of the phase center of the second receiver antenna at the current moment according to the second state parameter correction vector, the third position, the third speed and the third attitude.
Optionally, the determining a heading angle of the platform according to the position, the speed and the attitude of the first receiver antenna phase center and the position, the speed and the attitude of the second receiver antenna phase center, and under the constraint of the heading angle of the platform, determining the position, the speed and the attitude of the offshore platform by using a precise single-point positioning and inertial navigation system tight combination theory based on the heading angle constraint specifically includes:
calculating a course angle of the offshore platform based on a Beidou double-antenna attitude determination theory according to the position of the phase center of the first receiver antenna and the position of the phase center of the second receiver antenna;
constructing an innovation vector of Kalman filtering based on the measurement data of the six-axis inertial measurement unit and the observation data of the first receiver antenna by taking the course angle as a constraint condition; the distance between the first receiver antenna and the six-axis inertia measurement unit is smaller than the distance between the second receiver antenna and the six-axis inertia measurement unit;
and based on the innovation vector, performing calculation based on a precise single-point positioning and inertial navigation system tight combination theory under the constraint of the course angle by using Kalman filtering to obtain the position, the speed and the attitude of the offshore platform.
A positioning and attitude-determining system of an offshore platform is applied to a positioning and attitude-determining device of the offshore platform; the device comprises a six-axis inertia measurement unit, a Beidou dual-antenna dual-frequency receiver, a first receiver antenna and a second receiver antenna, wherein the first receiver antenna and the second receiver antenna are connected with the Beidou dual-antenna dual-frequency receiver; three coordinate axes of a first space three-dimensional rectangular coordinate system of the six-axis inertia measurement unit are respectively parallel to three coordinate axes of a second space three-dimensional rectangular coordinate system of the offshore platform; a connecting line of the projections of the first receiver antenna and the second receiver antenna on the offshore platform is parallel to an x axis of the first space three-dimensional rectangular coordinate system; the first space three-dimensional rectangular coordinate system takes the measurement center of the six-axis inertia measurement unit as an origin;
this location attitude determination system includes:
an obtaining module, configured to obtain positions of the first receiver antenna and the second receiver antenna in the first spatial three-dimensional rectangular coordinate system relative to the six-axis inertial measurement unit, so as to obtain a relative position of the first antenna and a relative position of the second antenna;
the first phase center position calculating module is used for calculating the relative position of the phase center of the first receiver antenna relative to the measurement center of the six-axis inertia measurement unit according to the relative position of the first antenna based on the rotation and translation principle of a space coordinate system to obtain a first phase center relative position;
the second phase center position calculation module is used for calculating the relative position of the phase center of the second receiver antenna relative to the measurement center of the six-axis inertia measurement unit according to the relative position of the second antenna based on the rotation and translation principle of a space coordinate system to obtain a second phase center relative position;
the first phase center pose calculation module is used for calculating the position, the speed and the posture of the first receiver antenna phase center according to the relative position of the first phase center based on a close-coupled rationale of a precise single-point positioning and inertial navigation system;
the second phase center pose calculation module is used for calculating the position, the speed and the posture of the second receiver antenna phase center according to the relative position of the second phase center based on the close combination theory of the precise single-point positioning and the inertial navigation system;
and the offshore platform pose calculation module is used for determining a platform course angle according to the position, the speed and the attitude of the first receiver antenna phase center and the position, the speed and the attitude of the second receiver antenna phase center, and determining the position, the speed and the attitude of the offshore platform by adopting a precise single-point positioning and inertial navigation system tight combination theory based on course angle constraint under the constraint of the platform course angle.
Optionally, the first phase center pose calculation module includes:
the first attitude calculation unit is used for calculating the position, the speed and the attitude of a measurement center of the six-axis inertia measurement unit at the current moment under a navigation coordinate system according to an inertial navigation system mechanical layout function model by utilizing the angular velocity increment and the linear velocity increment of the six-axis inertia measurement unit to obtain a first position, a first speed and a first attitude;
a second attitude and position calculation unit, configured to calculate a position, a speed, and an attitude of the first receiver antenna in a geocentric/geostationary coordinate system according to the first phase center relative position, a current attitude rotation matrix, the first position, the first speed, and the first attitude, so as to obtain a second position, a second speed, and a second attitude;
the first distance calculation unit is used for predicting the theoretical distance from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna and the theoretical distance change rate from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna by utilizing the second position and the second speed and combining satellite orbit and clock error data to obtain a first theoretical distance and a first theoretical distance change rate;
a first kalman filtering unit, configured to estimate a first state parameter correction vector by using kalman filtering based on the first theoretical distance, the first theoretical distance change rate, and pseudo-range, carrier, and doppler data observed by the first receiver antenna;
and the first phase center pose calculation unit is used for calculating the position, the speed and the pose of the phase center of the first receiver antenna at the current moment according to the first state parameter correction vector, the second position, the second speed and the second pose.
Optionally, the second phase center pose calculation module includes:
the third attitude calculation unit is used for calculating the position, the speed and the attitude of the measurement center of the six-axis inertia measurement unit at the current moment under a navigation coordinate system according to an inertial navigation system mechanical layout function model by using the angular velocity increment and the linear velocity increment of the six-axis inertia measurement unit to obtain a first position, a first speed and a first attitude;
a fourth attitude calculation unit, configured to calculate a position, a speed, and an attitude of the second receiver antenna in a geocentric/geostationary coordinate system according to the relative position of the first phase center, the current attitude rotation matrix, the first position, the first speed, and the first attitude, so as to obtain a third position, a third speed, and a third attitude;
a second distance calculating unit, configured to predict, by using the third position and the third speed, a theoretical distance from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the second receiver antenna and a theoretical distance change rate from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the second receiver antenna by using the satellite orbit and clock error data, and obtain a second theoretical distance and a second theoretical distance change rate;
a second kalman filtering unit, configured to estimate a second state parameter correction vector by using kalman filtering based on the second theoretical distance, the second theoretical distance change rate, and pseudo-range, carrier, and doppler data observed by the second receiver antenna;
and the second phase center pose calculation unit is used for calculating the position, the speed and the pose of the phase center of the second receiver antenna at the current moment according to the second state parameter correction vector, the third position, the third speed and the third pose.
Optionally, the offshore platform pose calculation module includes:
the course angle calculation unit is used for calculating a course angle of the offshore platform based on a Beidou double-antenna attitude determination theory according to the position of the phase center of the first receiver antenna and the position of the phase center of the second receiver antenna;
the innovation vector construction unit is used for constructing an innovation vector of Kalman filtering based on the measurement data of the six-axis inertia measurement unit and the observation data of the first receiver antenna by taking the course angle as a constraint condition; the distance between the first receiver antenna and the six-axis inertia measurement unit is smaller than the distance between the second receiver antenna and the six-axis inertia measurement unit;
and the offshore platform pose calculation unit is used for performing calculation based on a precise single-point positioning and inertial navigation system tight combination theory under the constraint of the course angle by using Kalman filtering based on the innovation vector to obtain the position, the speed and the posture of the offshore platform.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects: the invention relates to a method and a System for positioning and attitude determination of an offshore platform, which adopt a PPP (precision Point positioning)/INS (Inertial Navigation System) tight combination technology of platform course angle constraint to realize positioning and attitude determination, can provide positioning accuracy of centimeter level for a long time and attitude determination result of high accuracy, and greatly improve the positioning and attitude determination accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is an overall structure diagram of an offshore platform positioning and attitude determination device;
FIG. 2 is a flowchart of a method for positioning and attitude determination of an offshore platform according to embodiment 1 of the present invention;
fig. 3 is a system configuration diagram of a positioning and attitude determination system of an offshore platform according to embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
A positioning and attitude-determining method and a system of an offshore platform are both based on an offshore platform positioning and attitude-determining device.
Fig. 1 is an overall structure diagram of an offshore platform positioning and attitude determination device.
Referring to fig. 1, the device comprises a six-axis Inertial Measurement Unit (IMU), a big dipper dual-antenna dual-frequency receiver, and a first receiver antenna r connected with the big dipper dual-antenna dual-frequency receiver1And a second receiver antenna r2(ii) a Three coordinate axes of a first space three-dimensional rectangular coordinate system (referred to as a system b for short) of the six-axis inertial measurement unit IMU are respectively parallel to three coordinate axes of a second space three-dimensional rectangular coordinate system (a system p) of the offshore platform; and b adopts a right-front-up coordinate system (R-F-U coordinate system). First receiver antenna r1And a second receiver antenna r2At the offshore platformThe connecting line of the shadow is parallel to the x axis of the first space three-dimensional rectangular coordinate system; first receiver antenna r1And a second receiver antenna r2Less than 2 meters. Said first receiver antenna r1The distance between the six-axis inertia measurement unit and the second receiver antenna r is smaller than that of the six-axis inertia measurement unit2A distance relative to the six-axis inertial measurement unit IMU. The first space three-dimensional rectangular coordinate system takes the measurement center of the six-axis inertial measurement unit IMU as an origin. Six-axis inertial measurement unit IMU and first receiver antenna r1And a second receiver antenna r2Connected by a feeder.
The six-axis inertial measurement unit IMU is composed of a three-axis accelerometer and a three-axis gyroscope. The six-axis inertial measurement unit IMU and the two receiver antennas are all rigidly connected with the offshore platform, so that the six-axis inertial measurement unit IMU and the two receiver antennas are guaranteed to move consistently, and the spatial position relation between the six-axis inertial measurement unit IMU and the two receiver antennas is unchanged under the system b when the offshore platform moves. The six-axis inertial measurement unit IMU and the two receiver antennas are used for collecting original observation data after time synchronization, and the original observation data comprise three acceleration observation values, three angular velocity observation values and m Beidou satellite observation values (double-frequency pseudo range, carrier wave and Doppler), wherein m represents the number of observed Beidou satellites.
Example 1:
fig. 2 is a flowchart of a method for positioning and attitude determination of an offshore platform according to embodiment 1 of the present invention.
Referring to fig. 2, the positioning and attitude determination method includes:
step 101: and acquiring the positions of the first receiver antenna and the second receiver antenna relative to the six-axis inertial measurement unit in the first space three-dimensional rectangular coordinate system to obtain the relative position of the first antenna and the relative position of the second antenna.
Namely: lever arm of reference center relative inertia measuring unit in b system for obtaining measured two receiver antennas
Figure BDA0002267647890000093
And
Figure BDA0002267647890000094
where T represents a matrix transpose operation.
Step 102: and calculating the relative position of the phase center of the first receiver antenna relative to the measurement center of the six-axis inertial measurement unit according to the relative position of the first antenna based on the rotation and translation principle of a space coordinate system to obtain the relative position of the first phase center.
Namely, using PCO (Phase Center Offset) information (PCO information, namely the Offset of the Phase Center of the receiver Antenna relative to the ARP (Antenna Reference Point) in a local navigation coordinate system (N system, using the North-East-Down coordinate system, namely N-E-D)) provided by the Antenna manufacturer of the receiver and using INS to precisely align attitude information (course angle, pitch angle and roll angle), and using the PCO value (PCO value) under the N system (N-E-D)
Figure BDA0002267647890000095
And
Figure BDA0002267647890000096
) Converting to b series, and calculating lever arm of phase center of Beidou receiver antennas r1 and r2 relative to measurement center of six-axis inertia measurement unit according to b series
Figure BDA0002267647890000097
And
Figure BDA0002267647890000098
Figure BDA0002267647890000091
Figure BDA0002267647890000099
wherein the content of the first and second substances,
Figure BDA00022676478900000910
representing the attitude transition matrix from n system to b systemComprises the following steps:
Figure BDA0002267647890000092
where phi, theta, psi denote the roll angle, pitch angle, and heading angle, respectively (these three parameters are error-carrying data measured using data from a six-axis inertial measurement unit), and c and s denote the cosine function cos () and sine function sin (), respectively.
Step 103: and calculating the relative position of the phase center of the second receiver antenna relative to the measurement center of the six-axis inertial measurement unit according to the relative position of the second antenna based on the rotation and translation principle of a space coordinate system to obtain a second phase center relative position.
Step 104: and calculating the position, the speed and the attitude of the first receiver antenna phase center according to the relative position of the first phase center based on a close-coupled rationale of a precise single-point positioning and inertial navigation system.
The step 104 specifically includes:
1. calculating the position, the speed and the attitude of the measurement center of the six-axis inertia measurement unit at the current moment under a navigation coordinate system according to an inertial navigation system mechanical arrangement function model by using the angular velocity increment and the linear velocity increment of the six-axis inertia measurement unit to obtain a first position
Figure BDA0002267647890000105
First speedAnd a first posture
Figure BDA0002267647890000107
Figure BDA0002267647890000108
Indicates the position of the measurement center of the six-axis inertial measurement unit under n series at the current time (k time),
Figure BDA0002267647890000109
represents the speed of the measuring center of the six-axis inertia measuring unit under the current time n system,
Figure BDA00022676478900001010
the attitude of the measurement center of the six-axis inertial measurement unit at the current time in n series is shown.
2. According to the relative position of the first phase center
Figure BDA00022676478900001011
Current attitude rotation matrix
Figure BDA00022676478900001012
The first position
Figure BDA00022676478900001013
The first speed
Figure BDA00022676478900001014
And the first posture
Figure BDA00022676478900001015
Calculating the position, the speed and the attitude of the first receiver antenna under an Earth-centered Earth-fixed coordinate system (e system) to obtain a second position
Figure BDA00022676478900001016
Second speedAnd a second posture
Figure BDA00022676478900001018
Figure BDA0002267647890000101
Figure BDA0002267647890000103
Figure BDA00022676478900001019
Indicating e is the position of the first receiver antenna,
Figure BDA00022676478900001020
representing e as the velocity of the first receiver antenna,
Figure BDA00022676478900001021
representing the attitude of the first receiver antenna under n;
Figure BDA00022676478900001022
representing a rotation matrix from a b system to an n system,
Figure BDA00022676478900001023
represents the projection of the angular velocity of n system relative to the geocentric inertial system (i system) in n system,
Figure BDA00022676478900001024
indicating the IMU angular increment information measured by the gyroscope in system b (system b is the angular velocity relative to system i),
Figure BDA00022676478900001025
respectively representAnd
Figure BDA00022676478900001027
is a reverse symmetric matrix
Figure BDA0002267647890000104
Figure BDA0002267647890000111
Figure BDA0002267647890000115
Are respectively as
Figure BDA0002267647890000116
The x-axis component, the y-axis component and the z-axis component are obtained through transformation;are respectively asThe transformed x-axis component, y-axis component, and z-axis component.
3. Using said second position
Figure BDA0002267647890000119
The second speed
Figure BDA00022676478900001110
Predicting a theoretical distance between an observed phase center of a transmitting antenna of the Beidou satellite and a phase center of the first receiver antenna and a theoretical distance change rate between the observed phase center of the transmitting antenna of the Beidou satellite and the phase center of the first receiver antenna by combining satellite orbit and clock error data provided by an IGS (International GNSS service center), and obtaining a first theoretical distance
Figure BDA00022676478900001111
And first theoretical rate of change of distance
Figure BDA00022676478900001112
Figure BDA0002267647890000112
Figure BDA0002267647890000113
In the formula (I), the compound is shown in the specification,
Figure BDA00022676478900001113
represents the observed theoretical distance from the phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna,
Figure BDA00022676478900001114
representing the observed theoretical range rate of change from the phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna,
Figure BDA00022676478900001116
and
Figure BDA00022676478900001115
respectively representing the satellite position and velocity at time e.
4. Estimating a first state parameter modifier vector deltax using Kalman filtering based on the first theoretical range, the first theoretical range rate of change, and pseudorange, carrier, and Doppler data observed by the first receiver antennak。
Prediction based on pseudorange, carrier, doppler data observed by the first receiver antenna and equations (7) and (8)
Figure BDA00022676478900001117
And
Figure BDA00022676478900001118
constructing an innovation vector of Kalman filtering:
Figure BDA0002267647890000114
in the formula ZkThe information vector is represented by a vector of information,
Figure BDA00022676478900001122
pseudo-representation of first receiver antenna observationsThe distance between the two adjacent plates is equal to each other,
Figure BDA00022676478900001119
representing a pseudorange error correction sum;representing the carrier wave observed by the first receiver antenna,represents the sum of carrier error corrections;
Figure BDA00022676478900001124
doppler data representing observations of the first receiver antenna,
Figure BDA00022676478900001121
represents the sum of the doppler error corrections; λ and N represent the carrier wavelength and ambiguity, respectively.
Based on the method, parameter adjustment calculation is carried out according to an observation updating function model of the extended Kalman filtering:
δxk＝δxk-1+Kk(Zk-Hkδxk-1) (10)
in the formula, δ xkState parameter vector x representing time kkVector of correction numbers of, δ xk-1Representing the state parameter correction vector at time K-1, KkAnd HkRespectively representing a gain matrix and a design coefficient matrix of Kalman filtering.
5. Correcting vector delta x according to the first state parameterkThe second position
Figure BDA0002267647890000123
The second speedAnd the second posture
Figure BDA0002267647890000125
Calculating the current time of saidPosition of phase center of first receiver antenna
Figure BDA0002267647890000126
Speed of rotation
Figure BDA0002267647890000127
And posture
Figure BDA0002267647890000128
Step 105: calculating the position of the phase center of the second receiver antenna according to the relative position of the second phase center based on the tight combination theory of the precise single-point positioning and the inertial navigation system
Figure BDA00022676478900001210
Speed of rotation
Figure BDA0002267647890000129
And posture
Figure BDA00022676478900001211
The method used in step 105 is the same as that used in step 104.
Step 106: and determining a heading angle of the platform according to the position, the speed and the attitude of the phase center of the first receiver antenna and the position, the speed and the attitude of the phase center of the second receiver antenna, and determining the position, the speed and the attitude of the offshore platform by adopting a precise single-point positioning and inertial navigation system tight combination theory based on the heading angle constraint under the constraint of the heading angle of the platform.
The step 106 specifically includes:
1. according to the position of the phase center of the first receiver antenna
Figure BDA00022676478900001212
And the position of the phase center of the second receiver antenna
Figure BDA00022676478900001213
Calculating course of offshore platform based on Beidou double-antenna attitude determination theoryAngle psir1，r2。
Figure BDA0002267647890000121
Where atan2 is a function used to calculate the azimuth, the return value is between-pi and + pi.
2. And constructing an innovation vector Z 'of Kalman filtering based on the measurement data of the six-axis inertia measurement unit and the observation data of the first receiver antenna by taking the course angle as a constraint condition'k。
Figure BDA0002267647890000122
3. And (3) based on the innovation vector in the formula (12), performing calculation based on a precise single-point positioning and inertial navigation system tight combination theory under the constraint of the course angle by using Kalman filtering to obtain the position, the speed and the posture of the offshore platform.
δx′k＝δx′k-1+K′k(Z′k-H′kδx′k-1) (13)
In formula (II), delta x'k、δx′k-1、K′kAnd
Figure BDA00022676478900001214
respectively represent vector Z 'based on innovation'kResolved state vector of time k x'kThe corrected number vector of (2), the state vector x 'at time k-1'k-1The correction vector, the Kalman filter gain matrix and the design coefficient matrix.
State parameter correction number vector δ x 'calculated from equation (13)'kAnd a state parameter vector x'kCalculating the optimal estimated value at the k time
Figure BDA0002267647890000131
Figure BDA0002267647890000134
In the formula (I), the compound is shown in the specification,
Figure BDA0002267647890000132
including position vectors, velocity vectors, and attitude vectors. The
Figure BDA0002267647890000133
I.e. the position, velocity and attitude of the platform.
Example 2:
fig. 3 is a system configuration diagram of a positioning and attitude determination system of an offshore platform according to embodiment 2 of the present invention.
Referring to fig. 3, the positioning and attitude determination system includes:
an obtaining module 201, configured to obtain positions of the first receiver antenna and the second receiver antenna in the first spatial three-dimensional rectangular coordinate system relative to the six-axis inertial measurement unit, so as to obtain a relative position of the first antenna and a relative position of the second antenna;
a first phase center position calculation module 202, configured to calculate, according to the relative position of the first antenna, a relative position of the phase center of the first receiver antenna with respect to a measurement center of the six-axis inertial measurement unit based on a rotation and translation principle of a spatial coordinate system, so as to obtain a first phase center relative position;
a second phase center position calculating module 203, configured to calculate, according to the relative position of the second antenna, a relative position of the phase center of the second receiver antenna with respect to the measurement center of the six-axis inertial measurement unit based on a rotation and translation principle of a spatial coordinate system, so as to obtain a second phase center relative position;
the first phase center pose calculation module 204 is used for calculating the position, the speed and the attitude of the first receiver antenna phase center according to the relative position of the first phase center based on a close-coupled rationale of a precise single-point positioning and inertial navigation system;
the second phase center pose calculation module 205 is configured to calculate a position, a speed, and an attitude of a phase center of the second receiver antenna according to the second phase center relative position based on a close combination theory of a precise single-point positioning and inertial navigation system;
and the offshore platform pose calculation module 206 is configured to determine a platform course angle according to the position, the speed, and the attitude of the first receiver antenna phase center and the position, the speed, and the attitude of the second receiver antenna phase center, and determine the position, the speed, and the attitude of the offshore platform by using a precise single-point positioning and inertial navigation system tight combination theory based on course angle constraint under the constraint of the platform course angle.
Optionally, the first phase center pose calculation module 204 includes:
the first attitude calculation unit is used for calculating the position, the speed and the attitude of a measurement center of the six-axis inertia measurement unit at the current moment under a navigation coordinate system according to an inertial navigation system mechanical layout function model by utilizing the angular velocity increment and the linear velocity increment of the six-axis inertia measurement unit to obtain a first position, a first speed and a first attitude;
a second attitude and position calculation unit, configured to calculate a position, a speed, and an attitude of the first receiver antenna in a geocentric/geostationary coordinate system according to the first phase center relative position, a current attitude rotation matrix, the first position, the first speed, and the first attitude, so as to obtain a second position, a second speed, and a second attitude;
the first distance calculation unit is used for predicting the theoretical distance from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna and the theoretical distance change rate from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna by utilizing the second position and the second speed and combining satellite orbit and clock error data to obtain a first theoretical distance and a first theoretical distance change rate;
a first kalman filtering unit, configured to estimate a first state parameter correction vector by using kalman filtering based on the first theoretical distance, the first theoretical distance change rate, and pseudo-range, carrier, and doppler data observed by the first receiver antenna;
and the first phase center pose calculation unit is used for calculating the position, the speed and the pose of the phase center of the first receiver antenna at the current moment according to the first state parameter correction vector, the second position, the second speed and the second pose.
Optionally, the second phase center pose calculation module 205 includes:
the third attitude calculation unit is used for calculating the position, the speed and the attitude of the measurement center of the six-axis inertia measurement unit at the current moment under a navigation coordinate system according to an inertial navigation system mechanical layout function model by using the angular velocity increment and the linear velocity increment of the six-axis inertia measurement unit to obtain a first position, a first speed and a first attitude;
a fourth attitude calculation unit, configured to calculate a position, a speed, and an attitude of the second receiver antenna in a geocentric/geostationary coordinate system according to the relative position of the first phase center, the current attitude rotation matrix, the first position, the first speed, and the first attitude, so as to obtain a third position, a third speed, and a third attitude;
a second distance calculating unit, configured to predict, by using the third position and the third speed, a theoretical distance from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the second receiver antenna and a theoretical distance change rate from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the second receiver antenna by using the satellite orbit and clock error data, and obtain a second theoretical distance and a second theoretical distance change rate;
a second kalman filtering unit, configured to estimate a second state parameter correction vector by using kalman filtering based on the second theoretical distance, the second theoretical distance change rate, and pseudo-range, carrier, and doppler data observed by the second receiver antenna;
and the second phase center pose calculation unit is used for calculating the position, the speed and the pose of the phase center of the second receiver antenna at the current moment according to the second state parameter correction vector, the third position, the third speed and the third pose.
Optionally, the offshore platform pose calculation module 206 includes:
the course angle calculation unit is used for calculating a course angle of the offshore platform based on a Beidou double-antenna attitude determination theory according to the position of the phase center of the first receiver antenna and the position of the phase center of the second receiver antenna;
the innovation vector construction unit is used for constructing an innovation vector of Kalman filtering based on the measurement data of the six-axis inertia measurement unit and the observation data of the first receiver antenna by taking the course angle as a constraint condition; the distance between the first receiver antenna and the six-axis inertia measurement unit is smaller than the distance between the second receiver antenna and the six-axis inertia measurement unit;
and the offshore platform pose calculation unit is used for performing calculation based on a precise single-point positioning and inertial navigation system tight combination theory under the constraint of the course angle by using Kalman filtering based on the innovation vector to obtain the position, the speed and the posture of the offshore platform.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
(1) the traditional offshore platform positioning and attitude determination technology generally adopts GPS/GNSS differential positioning, the GPS/GNSS differential positioning precision generally can only reach sub-meter level or even meter level, and the requirement of centimeter level positioning precision is difficult to meet. The scheme is based on the precise orbit and clock error of IGS, and utilizes the precise point positioning technology (PPP) to provide centimeter-level positioning precision.
(2) The traditional offshore platform attitude determination technology generally adopts a multi-baseline GPS or a high-precision gyroscope to determine the attitude, wherein the accuracy of the multi-baseline GPS attitude determination is influenced by the positioning precision and is difficult to provide high-precision attitude information; the accuracy of gyroscope pose determination decreases with gyro age, making it difficult to provide long-term high-accuracy pose information. The scheme adopts a course angle constrained PPP/INS tight combination precision positioning and attitude determination technology, can provide a long-term centimeter-level absolute positioning precision and high-precision attitude determination result, and obviously improves the continuity of the positioning and attitude determination result of the scheme due to the self-updating capability of the INS.
(3) The PPP/INS tight combination technology is adopted in the scheme, and a high-precision positioning and attitude determination result of hundreds of hertz can be provided.
(4) In the scheme, only a double-frequency Beidou receiver antenna and a six-axis inertia measurement unit are adopted, and the cost is far lower than that of a multi-baseline GPS and a high-precision gyroscope.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A positioning and attitude determination method for an offshore platform is characterized by being applied to a positioning and attitude determination device for the offshore platform; the device comprises a six-axis inertia measurement unit, a Beidou dual-antenna dual-frequency receiver, a first receiver antenna and a second receiver antenna, wherein the first receiver antenna and the second receiver antenna are connected with the Beidou dual-antenna dual-frequency receiver; three coordinate axes of a first space three-dimensional rectangular coordinate system of the six-axis inertia measurement unit are respectively parallel to three coordinate axes of a second space three-dimensional rectangular coordinate system of the offshore platform; a connecting line of the projections of the first receiver antenna and the second receiver antenna on the offshore platform is parallel to an x axis of the first space three-dimensional rectangular coordinate system; the first space three-dimensional rectangular coordinate system takes the measurement center of the six-axis inertia measurement unit as an origin;
the positioning and attitude determination method comprises the following steps:
obtaining the positions of the first receiver antenna and the second receiver antenna relative to the six-axis inertial measurement unit in the first space three-dimensional rectangular coordinate system to obtain the relative position of the first antenna and the relative position of the second antenna;
calculating the relative position of the phase center of the first receiver antenna relative to the measurement center of the six-axis inertial measurement unit according to the relative position of the first antenna based on the rotation and translation principle of a space coordinate system to obtain a first phase center relative position;
calculating the relative position of the phase center of the second receiver antenna relative to the measurement center of the six-axis inertial measurement unit according to the relative position of the second antenna based on the rotation and translation principle of a space coordinate system to obtain a second phase center relative position;
calculating the position, the speed and the attitude of the first receiver antenna phase center according to the relative position of the first phase center based on a close-coupled rationale of a precise single-point positioning and inertial navigation system;
calculating the position, the speed and the attitude of the antenna phase center of the second receiver according to the relative position of the second phase center based on the tight combination theory of the precise single-point positioning and the inertial navigation system;
and determining a heading angle of the platform according to the position, the speed and the attitude of the phase center of the first receiver antenna and the position, the speed and the attitude of the phase center of the second receiver antenna, and determining the position, the speed and the attitude of the offshore platform by adopting a precise single-point positioning and inertial navigation system tight combination theory based on the heading angle constraint under the constraint of the heading angle of the platform.
2. The method for positioning and attitude determination of an offshore platform according to claim 1, wherein the calculating of the position, velocity and attitude of the phase center of the first receiver antenna based on the close-coupled rationale of precise single-point positioning and inertial navigation systems according to the relative position of the first phase center specifically comprises:
calculating the position, the speed and the attitude of a measurement center of the six-axis inertia measurement unit at the current moment under a navigation coordinate system according to an inertial navigation system mechanical arrangement function model by using the angular velocity increment and the linear velocity increment of the six-axis inertia measurement unit to obtain a first position, a first speed and a first attitude;
calculating the position, the speed and the attitude of the first receiver antenna under a geocentric geostationary coordinate system according to the relative position of the first phase center, the current attitude rotation matrix, the first position, the first speed and the first attitude to obtain a second position, a second speed and a second attitude;
predicting the observed theoretical distance from the phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna and the observed theoretical distance change rate from the phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna by using the second position and the second speed and combining satellite orbit and clock error data to obtain a first theoretical distance and a first theoretical distance change rate;
estimating a first state parameter modifier vector using Kalman filtering based on the first theoretical range, the first theoretical range rate of change, and pseudorange, carrier, and Doppler data observed by the first receiver antenna;
and calculating the position, the speed and the attitude of the phase center of the first receiver antenna at the current moment according to the first state parameter correction vector, the second position, the second speed and the second attitude.
3. The method for positioning and attitude determination of an offshore platform according to claim 1, wherein the calculating of the position, the speed and the attitude of the phase center of the second receiver antenna based on the theory of close combination of precise single-point positioning and inertial navigation system according to the relative position of the second phase center specifically comprises:
calculating the position, the speed and the attitude of a measurement center of the six-axis inertia measurement unit at the current moment under a navigation coordinate system according to an inertial navigation system mechanical arrangement function model by using the angular velocity increment and the linear velocity increment of the six-axis inertia measurement unit to obtain a first position, a first speed and a first attitude;
calculating the position, the speed and the attitude of the second receiver antenna under the geocentric geostationary coordinate system according to the relative position of the first phase center, the current attitude rotation matrix, the first position, the first speed and the first attitude to obtain a third position, a third speed and a third attitude;
predicting the observed theoretical distance from the phase center of the transmitting antenna of the Beidou satellite to the phase center of the second receiver antenna and the observed theoretical distance change rate from the phase center of the transmitting antenna of the Beidou satellite to the phase center of the second receiver antenna by using the third position and the third speed and combining satellite orbit and clock error data to obtain a second theoretical distance and a second theoretical distance change rate;
estimating a second state parameter modifier vector using Kalman filtering based on the second theoretical range, the second theoretical range rate of change, and pseudorange, carrier, and Doppler data observed by the second receiver antenna;
and calculating the position, the speed and the attitude of the phase center of the second receiver antenna at the current moment according to the second state parameter correction vector, the third position, the third speed and the third attitude.
4. The method according to claim 1, wherein the step of determining the heading angle of the offshore platform according to the position, the speed and the attitude of the phase center of the first receiver antenna and the position, the speed and the attitude of the phase center of the second receiver antenna comprises the step of determining the position, the speed and the attitude of the offshore platform by using a precise single-point positioning and inertial navigation system tightly-combined theory based on the heading angle constraint under the constraint of the heading angle, and the method specifically comprises the following steps:
calculating a course angle of the offshore platform based on a Beidou double-antenna attitude determination theory according to the position of the phase center of the first receiver antenna and the position of the phase center of the second receiver antenna;
constructing an innovation vector of Kalman filtering based on the measurement data of the six-axis inertial measurement unit and the observation data of the first receiver antenna by taking the course angle as a constraint condition; the distance between the first receiver antenna and the six-axis inertia measurement unit is smaller than the distance between the second receiver antenna and the six-axis inertia measurement unit;
and based on the innovation vector, performing calculation based on a precise single-point positioning and inertial navigation system tight combination theory under the constraint of the course angle by using Kalman filtering to obtain the position, the speed and the attitude of the offshore platform.
5. A positioning and attitude-determining system of an offshore platform is characterized by being applied to a positioning and attitude-determining device of the offshore platform; the device comprises a six-axis inertia measurement unit, a Beidou dual-antenna dual-frequency receiver, a first receiver antenna and a second receiver antenna, wherein the first receiver antenna and the second receiver antenna are connected with the Beidou dual-antenna dual-frequency receiver; three coordinate axes of a first space three-dimensional rectangular coordinate system of the six-axis inertia measurement unit are respectively parallel to three coordinate axes of a second space three-dimensional rectangular coordinate system of the offshore platform; a connecting line of the projections of the first receiver antenna and the second receiver antenna on the offshore platform is parallel to an x axis of the first space three-dimensional rectangular coordinate system; the first space three-dimensional rectangular coordinate system takes the measurement center of the six-axis inertia measurement unit as an origin;
this location attitude determination system includes:
an obtaining module, configured to obtain positions of the first receiver antenna and the second receiver antenna in the first spatial three-dimensional rectangular coordinate system relative to the six-axis inertial measurement unit, so as to obtain a relative position of the first antenna and a relative position of the second antenna;
the first phase center position calculating module is used for calculating the relative position of the phase center of the first receiver antenna relative to the measurement center of the six-axis inertia measurement unit according to the relative position of the first antenna based on the rotation and translation principle of a space coordinate system to obtain a first phase center relative position;
the second phase center position calculation module is used for calculating the relative position of the phase center of the second receiver antenna relative to the measurement center of the six-axis inertia measurement unit according to the relative position of the second antenna based on the rotation and translation principle of a space coordinate system to obtain a second phase center relative position;
the first phase center pose calculation module is used for calculating the position, the speed and the posture of the first receiver antenna phase center according to the relative position of the first phase center based on a close-coupled rationale of a precise single-point positioning and inertial navigation system;
the second phase center pose calculation module is used for calculating the position, the speed and the posture of the second receiver antenna phase center according to the relative position of the second phase center based on the close combination theory of the precise single-point positioning and the inertial navigation system;
and the offshore platform pose calculation module is used for determining a platform course angle according to the position, the speed and the attitude of the first receiver antenna phase center and the position, the speed and the attitude of the second receiver antenna phase center, and determining the position, the speed and the attitude of the offshore platform by adopting a precise single-point positioning and inertial navigation system tight combination theory based on course angle constraint under the constraint of the platform course angle.
6. The offshore platform pose positioning system of claim 5, wherein the first phase center pose calculation module comprises:
the first attitude calculation unit is used for calculating the position, the speed and the attitude of a measurement center of the six-axis inertia measurement unit at the current moment under a navigation coordinate system according to an inertial navigation system mechanical layout function model by utilizing the angular velocity increment and the linear velocity increment of the six-axis inertia measurement unit to obtain a first position, a first speed and a first attitude;
a second attitude and position calculation unit, configured to calculate a position, a speed, and an attitude of the first receiver antenna in a geocentric/geostationary coordinate system according to the first phase center relative position, a current attitude rotation matrix, the first position, the first speed, and the first attitude, so as to obtain a second position, a second speed, and a second attitude;
the first distance calculation unit is used for predicting the theoretical distance from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna and the theoretical distance change rate from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the first receiver antenna by utilizing the second position and the second speed and combining satellite orbit and clock error data to obtain a first theoretical distance and a first theoretical distance change rate;
a first kalman filtering unit, configured to estimate a first state parameter correction vector by using kalman filtering based on the first theoretical distance, the first theoretical distance change rate, and pseudo-range, carrier, and doppler data observed by the first receiver antenna;
and the first phase center pose calculation unit is used for calculating the position, the speed and the pose of the phase center of the first receiver antenna at the current moment according to the first state parameter correction vector, the second position, the second speed and the second pose.
7. The offshore platform pose positioning system of claim 5, wherein the second phase center pose calculation module comprises:
the third attitude calculation unit is used for calculating the position, the speed and the attitude of the measurement center of the six-axis inertia measurement unit at the current moment under a navigation coordinate system according to an inertial navigation system mechanical layout function model by using the angular velocity increment and the linear velocity increment of the six-axis inertia measurement unit to obtain a first position, a first speed and a first attitude;
a fourth attitude calculation unit, configured to calculate a position, a speed, and an attitude of the second receiver antenna in a geocentric/geostationary coordinate system according to the relative position of the first phase center, the current attitude rotation matrix, the first position, the first speed, and the first attitude, so as to obtain a third position, a third speed, and a third attitude;
a second distance calculating unit, configured to predict, by using the third position and the third speed, a theoretical distance from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the second receiver antenna and a theoretical distance change rate from the observed phase center of the transmitting antenna of the Beidou satellite to the phase center of the second receiver antenna by using the satellite orbit and clock error data, and obtain a second theoretical distance and a second theoretical distance change rate;
a second kalman filtering unit, configured to estimate a second state parameter correction vector by using kalman filtering based on the second theoretical distance, the second theoretical distance change rate, and pseudo-range, carrier, and doppler data observed by the second receiver antenna;
and the second phase center pose calculation unit is used for calculating the position, the speed and the pose of the phase center of the second receiver antenna at the current moment according to the second state parameter correction vector, the third position, the third speed and the third pose.
8. The offshore platform pose determination system of claim 5, wherein the offshore platform pose calculation module comprises:
the course angle calculation unit is used for calculating a course angle of the offshore platform based on a Beidou double-antenna attitude determination theory according to the position of the phase center of the first receiver antenna and the position of the phase center of the second receiver antenna;
the innovation vector construction unit is used for constructing an innovation vector of Kalman filtering based on the measurement data of the six-axis inertia measurement unit and the observation data of the first receiver antenna by taking the course angle as a constraint condition; the distance between the first receiver antenna and the six-axis inertia measurement unit is smaller than the distance between the second receiver antenna and the six-axis inertia measurement unit;
and the offshore platform pose calculation unit is used for performing calculation based on a precise single-point positioning and inertial navigation system tight combination theory under the constraint of the course angle by using Kalman filtering based on the innovation vector to obtain the position, the speed and the posture of the offshore platform.
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