CN105445772A - Multi-GNSS antenna combination platform pose integration determination apparatus and method thereof - Google Patents
Multi-GNSS antenna combination platform pose integration determination apparatus and method thereof Download PDFInfo
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- G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
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Abstract
The invention discloses a multi-GNSS antenna combination platform pose integration determination apparatus and a method thereof and belongs to the satellite navigation positioning technology field. The determination apparatus comprises two multi-GNSS antenna configuration units, a data pre-processing unit, two pose output modules and a relative position solution module. Each multi-GNSS antenna configuration unit comprises a main antenna and a slave antenna which are distributed in a navigation-platform three-dimensional space and are used for providing a baseline prior information restriction condition of each platform for pose determination. The determination method comprises the following steps of carrying out multi-frequency cycle slip detection, restoration and difference processing on carrier wave phase data to acquire a baseline pseudo code carrier wave double difference observation signal; using a convergence search space method including baseline prior information restriction to seek an optimal integer cycle ambiguity and resolve a single platform pose; and using a pose ambiguity enhancement method to determine an optimal ambiguity and then resolving a relative position of the platform. Through using coupling resolving of multi-platform and multi-antenna constraint information, pose determination performance is increased and simultaneously relative position determination performance can be increased too.
Description
Technical Field
The invention discloses a device and a method for determining integrated pose of a multi-GNSS antenna combined platform, and belongs to the technical field of satellite positioning and navigation.
Background
The GNSS plays an important role in the construction of national economy and national defense at present, and a new generation GNSS is developing vigorously. The united states is actively advancing the modernization of GPS, including the addition of new military codes (M codes) and new civilian signals (L2C and L5C), planning the development of GPS into a three-frequency observation system. The european Galileo project will also provide multi-frequency signals, with two test satellites launched in 2005, 2008 and the first two satellites launched in 2011. Based on the consideration of national security and navigation autonomy, russia decides to continue to maintain the operation of GLONASS and develop a new generation of tri-frequency system. China already builds a regional satellite navigation system of 'Beidou I', and a global satellite navigation system of 'Beidou II' is being built, applies for frequency bands of B1, B2 and B3 from the international telecommunication union in 2009, and transmits five navigation signals of B1-C, B1, B2, B3 and B3-A. GPS, GLONASS, Galileo and China Beidou No. two are main GNSS at present, and can provide different satellite signals for military and civil fields.
GNSS has been applied to various fields such as sea, land, air, and sky, where aerospace navigation is an important application field of GNSS. The navigation performance is embodied in four aspects of precision, integrity, continuity and availability, and the international civil aviation organization is striving to make the GNSS meet the requirements of all flight phases. The current GNSS can meet the requirements of an airway, a terminal and non-precision approach; the space-based augmentation (including WAAS, EGNOS, etc.) has reached the demand of I-type precision approach; class II/III precision approach (CATII/CATIII, performance requirements as shown in Table 1) navigation is under investigation. However, in view of the current research results, the requirements of CATIII and airport ground motion cannot be met due to the adoption of pseudo-range observation.
TABLE 1GNSS navigation Performance requirements for precision approach landing
Code-finding pseudoranges and carrier phases are two basic types of observations of GNSS systems. Based on pseudo-range observation (including an absolute mode and a differential mode), the requirements of high-precision navigation such as automatic landing of an aircraft, air refueling, airport ground motion, automatic docking of ships, intersection docking, precise approach and the like cannot be met. The carrier phase observation has higher precision and has centimeter-level or even millimeter-level potential performance, but the solution of the carrier observation ambiguity is the key for realizing centimeter-level positioning navigation of carrier observation.
From the current research situation at home and abroad, the determination of the relative position and attitude of the GNSS is usually processed separately, that is, an independent positioning system and an attitude determination system are respectively designed, wherein the former uses GNSS differential data between platforms to perform positioning, and the latter uses GNSS multi-antenna of a single platform to perform attitude determination. This divide-and-conquer approach does not fully utilize the GNSS resources of multiple platforms, nor does it consider the constraint information of multiple platforms, which limits the performance improvement. Meanwhile, the success rate of position and attitude calculation is further reduced in severe environments (such as rendezvous and docking, visible satellite deficiency caused by shielding in air refueling, multipath effect and the like).
Disclosure of Invention
The invention aims to solve the technical problem that the prior art is insufficient, provides a multi-GNSS antenna combined platform pose integrated determining device and method, improves the pose determination performance and the relative position determination performance at the same time by utilizing the coupling calculation of multi-platform and multi-antenna constraint information, and solves the technical problem that the improvement of the positioning stator precision is limited because baseline limitation is ignored in a GNSS carrier wave relative position determination and pose determination scheme which is separately designed.
The invention adopts the following technical scheme for realizing the aim of the invention:
the integrated determining device of the multi-GNSS antenna combined platform position and attitude comprises: two multi-GNSS antenna configuration units, a data preprocessing unit, two attitude output modules and a relative position resolving module,
the multi-GNSS antenna configuration unit comprises a main antenna and a slave antenna which are distributed in a three-dimensional space of a navigation platform and provide a baseline priori information limiting condition of each platform for attitude determination, the main antenna is used for performing attitude determination and resolving with the slave antenna of the same platform and resolving relative positions between platforms with main antennas of other platforms,
the data preprocessing unit: the device is used for detecting, repairing and differentially processing multi-frequency cycle hopping of carrier phase data received by each multi-GNSS antenna configuration unit to obtain a baseline pseudo code carrier double-difference observation signal,
each posture output module: used for converging and searching space according to a baseline pseudo code carrier double-difference observation signal output by the data preprocessing unit to solve the ambiguity of single platform attitude enhancement, then determining the single platform attitude according to the ambiguity of the single platform attitude enhancement,
the relative position calculating module: the system is used for resolving ambiguity under double differences according to baseline pseudo code carrier double difference observation signals output by the data preprocessing unit, determining optimal ambiguity according to single platform attitude enhanced ambiguity output by each attitude output module and the ambiguity under double differences, and resolving the relative position of the platform according to the optimal ambiguity.
The method for determining the integrated pose of the multi-GNSS antenna combined platform is realized by using the device and specifically comprises the following steps:
A. carrying out multi-frequency cycle slip detection, restoration and differential processing on carrier phase data received by each multi-GNSS antenna configuration unit to obtain a baseline pseudo code carrier double-difference observation signal;
B. seeking the optimal integer ambiguity and resolving the single-platform attitude by adopting a convergence search space method considering ambiguity integer limitation, attitude matrix orthogonal limitation and baseline prior information limitation;
C. and (4) determining the optimal ambiguity by adopting an attitude ambiguity enhancement method and then resolving the relative position of the platform.
Further, in the method for determining the integrated pose of the multi-GNSS antenna combination platform, step a includes performing multi-frequency cycle slip detection, restoration and differential processing on carrier phase data received by each multi-GNSS antenna configuration unit by using the following method to obtain a baseline pseudo code carrier double-difference observation signal:
a1, performing multi-frequency cycle slip detection and repair processing on the carrier phase signals received by each platform by adopting a multi-channel carrier phase differential sequence method: detecting a single platform carrier phase signal by a differential sequence hopping sequence discriminant, removing a cycle-hopping change signal when the single platform carrier phase signal is detected to have cycle-hopping change, otherwise, carrying out primary detection by the differential sequence hopping sequence discriminant and removing a cycle-hopping change signal detected again when the cycle-hopping change signal is detected again, wherein the values of parameters in the differential sequence hopping discriminant for detecting the cycle-hopping signals twice are different;
a2, performing single difference processing on the single platform carrier phase signals with the cycle jump signals removed to obtain single platform carrier phase observation signals, and performing double difference processing on the carrier phase observation signals of each platform to obtain double difference carrier phase observation signals.
Further, in the method for determining the integrated pose of the multi-GNSS antenna combination platform, step B is to find the optimal integer ambiguity by using the following method:
b1, establishing GNSS attitude determination model based on ambiguity integer limit, attitude matrix orthogonal limit and baseline priori information limit to estimate ambiguity floating solution matrix
The GNSS attitude determination model is as follows: e (y) ═ MRB + NZ, D (vec (y) ═ QYY，
Wherein E (-) is expectation, D (-) is variance, vec (-) is vector error correction function, Y is 2fs × R dimensional matrix containing double-difference observation value of each baseline pseudo code carrier, Z is fs × R dimensional integer ambiguity matrix, N is 2fs × fs dimensional matrix containing carrier length information, M is 2fs × 3 dimensional direction matrix containing direction cosine information from GNSS receiver to navigation satellite on protocol earth coordinate system, R is attitude matrix, B is baseline matrix under carrier coordinate system, baseline information in baseline matrix is determined by distance between master and slave antennas on single platform, Q (-) is variance, vec (-) is vector error correction function, and M is 2fs × fs dimensional matrix containing carrier length information, and M is 2fs × dimensional direction matrix containing direction cosine information from GNSS receiver to navigation satellite on protocol earth coordinate system, and R is attitude matrix and B is baselineyyA 2fs × 2fs dimension baseline observation variance matrix, f is the frequency of a baseline pseudo code carrier double-difference observation signal, s is the number of tracked antennas, r is the number of antennas, and q is the dimension of an attitude matrix;
b2, initializing an original search space boundary value and a whole-cycle ambiguity matrix Z;
b3, setting a boundary value of the upper limit of the search space and starting to search the integer ambiguity:
the search space upper limit boundary value is represented by the expression:it is determined that,representing an attitude float solution matrix derived from an ambiguity float solution matrix,is the attitude matrix derived from the current integer ambiguity matrix,for an observed variance matrix based on an ambiguity floating solution matrix,an observation variance matrix based on the attitude floating point solution matrix;
integer ambiguity Z obtained in the k-th searchk+1So that C (Z)k+1) Less than C (Z)k) When it is, with C (Z)k) Setting the new boundary value of the upper limit of the search space and starting the next search until the search space is reduced to the minimum;
with C (Z)k) And searching again for the new boundary value of the lower limit of the search space so as to determine the optimal integer ambiguity.
Further, in step B3 of the method for determining integrated pose of multi-GNSS antenna combination platform, C (Z) is usedk) And when the new boundary value of the lower limit of the search space is searched again and a plurality of integer ambiguities are searched, determining the optimal integer ambiguities by adopting a least square method.
Further, in the method for determining the integrated pose of the multi-GNSS antenna combination platform, the specific method for determining the optimal ambiguity by using the attitude ambiguity enhancement method in step C is as follows:
after the single-point positioning data of the two main antennas are subjected to differential processing, the ambiguity under double differences is searched, and the ambiguity under double differences is represented by an expression:determining optimal ambiguitiesAnd then the relative position of the platform is solved by the optimal ambiguity, wherein,for ambiguity floating solutions, ZpFor the optimal integer ambiguities and double-differenced lower ambiguities for each platform,a baseline floating point solution is represented that is,a baseline fixed solution is represented that is,and respectively representing covariance matrixes of corresponding values of the ambiguity floating solution and the base line floating solution.
Further, in step C of the method for determining the integrated pose of the multi-GNSS antenna combination platform, the ambiguity under double differences is searched by using an lamb method after the single-point positioning data of the two platform main antennas are subjected to differential processing.
By adopting the technical scheme, the invention has the following beneficial effects:
(1) the built multi-GNSS antenna combined platform position integrated determining device can determine the relative position between platforms while determining the attitude, the multi-GNSS antenna configuration of each platform comprises a main antenna and three slave antennas which are distributed under a three-dimensional coordinate system of a navigation platform, the main antenna and other antennas of the same platform perform attitude determination calculation and solve the relative position between the platforms with other combined platforms, the problem that the antenna is distributed on the same platform rigid body to cause that one attitude error in attitude output is obviously larger than the other two attitude errors is solved through reasonable layout of the antennas, and the determined distance between the antennas on the single platform is used as a saline base line limiting condition in subsequent attitude calculation;
(2) the pose integrated determination method comprises the following steps: the carrier signal differential sequence received by each platform GNSS receiver is subjected to multi-frequency detection and repair by adopting a multi-channel carrier phase differential sequence method, a double-difference carrier phase observation signal is obtained by a double-difference model, and the multi-channel carrier phase differential sequence method is used for detecting again after adjusting the value of a discriminant parameter when a cycle-slip signal is not detected for the first time, so that the detection omission phenomenon which sequentially occurs in detection is avoided, and single-frequency, double-frequency and triple-frequency cycle-slip signals can be effectively detected and repaired; a convergence search space method considering ambiguity integer limitation, attitude matrix orthogonal limitation and baseline prior information limitation is adopted to seek the integer ambiguity and resolve the single-platform attitude, so that the ambiguity search efficiency is effectively improved; the single-point positioning difference processing of the single platform main antenna is carried out, the lower ambiguity of double-check is searched, then the relative position between the platforms is determined according to the whole-cycle ambiguity and the lower ambiguity of double-difference, and the anti-interference performance of the relative position calculation is improved;
(3) when the ambiguity error of attitude moment calculation is large, the relative position between the platforms is determined by double-difference ambiguity, which has a good decoupling function for determining the relative position of the whole platform, namely the error of the attitude determination algorithm module part does not influence the calculation of the relative position.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a general functional diagram of an integrated GNSS pose determination apparatus;
FIG. 2 is a schematic diagram of a combination platform multiple antenna configuration;
FIG. 3 is a flow chart of a multi-frequency cycle slip detection and repair method;
FIG. 4 is a flow chart of a search convergence algorithm;
FIG. 5 is a flow chart of a pose ambiguity enhancement relative position solution.
Detailed Description
The embodiments of the present invention will be described in detail below, and the embodiments described below with reference to the accompanying drawings are exemplary only for the purpose of illustrating the present invention and are not to be construed as limiting the present invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Aiming at the defects in the prior art, the invention provides a new idea for carrying out coupling design on the position and attitude determination of a GNSS, a GNSS multi-antenna system of a motion platform is used for determining the attitude and the relative position between the motion platforms, coupling solution of constraint information of the multiple platforms and multiple antennas is fully utilized, and the relative position determination performance can be improved while the attitude determination performance is improved.
The combined multi-antenna platform relative positioning and attitude determination coupling device based on the carrier phase, disclosed by the invention, is shown in fig. 1 and comprises 2 combined platform multi-GNSS antenna configuration units, a data preprocessing unit, an attitude output module and a relative position resolving module. The combined platform multi-GNSS antenna configuration unit adopts a three-dimensional antenna configuration; the data preprocessing unit is used for preprocessing carrier phase observation data of the single-platform multi-antenna satellite navigation receiver and comprises the steps of detecting and repairing multi-path errors of carrier phase signals of each platform and performing single-difference and double-difference processing on the repaired carrier phase signals to obtain baseline pseudo code carrier double-difference observation signals; inputting the baseline pseudo code carrier double-difference observation signal into an attitude output module, and resolving attitude-enhanced ambiguity and attitude information of the single platform; and the relative position calculating module unit is used for calculating to obtain the relative position information between the platforms by combining the double-difference lower ambiguity value and the gesture enhanced ambiguity. Each multi-GNSS antenna configuration unit outputs carrier phase data received by each platform to the data preprocessing unit, the data preprocessing unit outputs baseline pseudo code carrier double-difference observation signals to each attitude output module and the relative position resolving module, the attitude output module outputs resolved single platform attitude enhanced ambiguity to the relative position resolving module and outputs resolved platform attitudes, and the phase position resolving module outputs resolved platform relative position information.
1. Combined platform multi-GNSS antenna configuration unit
When the multiple antennas of the general satellite-borne receiver are installed on a single platform, the antennas are distributed on the same rigid plane, so that the signal quality of each antenna is ensured to be identical. There is no difference between the antennas, and the antennas of the same specification are used for mounting and configuration. The multi-antenna configuration of the combined platform is different from the multi-antenna configuration in two aspects, as shown in fig. 2, one of the two aspects is that the antennas are distributed on a single platform in a three-dimensional manner, and the problem that the error of one attitude in attitude output is obviously larger than the errors of the other two attitudes due to the fact that the antennas are distributed on the same platform rigid body is solved through reasonable distribution of the platform space of the antennas. The primary antenna and the secondary antenna are divided, the primary antenna needs to perform attitude determination calculation with other antennas on the same platform, and also needs to calculate the relative position between the platform and other combined platforms, so that the requirement on the stability of the primary antenna is higher than that of other antennas, and other secondary antennas are mainly used for attitude calculation and have lower performance requirements than that of the primary antenna. Therefore, the antenna configuration can effectively save cost under the condition of ensuring the performance of positioning the attitude. Wherein the distance between the antennas between the single platforms has been accurately determined and used as a prior baseline constraint in subsequent attitude resolution.
2. Data preprocessing unit based on multi-frequency cycle slip detection and restoration
The data preprocessing unit is used for preprocessing carrier phase observation data output by the satellite navigation receiver, and comprises differential data processing, cycle slip detection and restoration, multipath error detection and differential model establishment. However, due to the three-dimensional configuration of the antennas, the difference between the signal quality of the master antenna and the signal quality of the slave antenna is large. In addition, the high dynamic performance of the combined navigation positioning platform increases the noise of a receiver, has high signal interruption possibility, unstable signal level and the like, and ensures that cycle slip variable capacitance is easy to generate. Therefore, the invention improves the single-frequency cycle slip detection and repair, so that the cycle slip can be well detected and repaired under double frequency and even triple frequency.
There are many methods for detecting and repairing cycle slip, such as ionospheric residual error method, M-W combined detection method, and polynomial fitting method. The ionospheric residual method and the M-W combined detection method are effective for dual-frequency multi-frequency phases but cannot handle the cycle slip problem and the repair problem of the single-frequency carrier phase measurement value, and the polynomial fitting method can be effective for a single-frequency measurement value or a dual-frequency combined measurement value but needs a phase change rate, and in addition, the method has no effect on the cycle modulation below 5 weeks, and the applicability is limited.
The first difference in carrier phase represents the change in the distance between the satellite and the receiver, which is equal to the average value of the satellite radial velocity multiplied by the sampling interval time, and the change in the average value of the radial velocity is much more gradual. With multiple differencing of the carrier phase, it is made to exhibit occasional errors without cycle jumps. Once cycle jump occurs, the accidental error characteristic of the carrier phase four-time difference sequence is destroyed, and an abnormal phenomenon occurs.
The carrier phase differential sequence is used for carrying out single-frequency and double-frequency cycle slip detection and repair, but the detection and repair effects on the three-frequency cycle slip are not ideal. The method can still be effective for three frequencies under the condition of effective detection and repair of single-frequency and double-frequency cycle slip.
Generally, a receiver receives a satellite and has a single frequency with the following relationship:
ΔtλΦ＝Δtρ+λΔtN+Δt(I+T+S+M+λe)(1)
wherein, DeltatRepresenting the time difference between adjacent epochs, phi the measured carrier phase value, p the distance of the receiver to the satellite, lambda the carrier signal length, I the ionospheric delay, T the tropospheric delay, S the satellite orbit error, M the multipath delay, e the thermal noise error, where ΔtAnd N represents the cycle slip. For a single frequency, detection influence on cycle slip such as troposphere delay error, ionosphere delay error and multipath error is large. But considering the characteristics of the multi-antenna multi-combination platform of the device and the main application scene on the formation of the satellite, the double difference model can be added to eliminate some errors. Therefore, for single-frequency cycle slip detection, whether the carrier phase meets the accidental error characteristic (namely Gaussian distribution) after three-time difference is detected, and cycle slip is generated if an abnormal phenomenon is detected.
For dual or triple frequency, the following equation is used:
wherein, w1、w2、w5And σL1The detection method needs to be reasonably set for specific application scenes so as to achieve the purpose of detecting the week jump. However, if the above judgment formula is used for processing, the detection omission phenomenon occurs for some small cycle jumps (less than 5), which is more prominent in the case of three frequencies, so on the basis, the following cycle jump change checking and repairing schemes effective for single frequency, double frequency and three frequencies are designed.
As shown in fig. 3, firstly, whether cycle slip exists is detected by a discriminant, and if so, the cycle slip determining and removing link is directly entered. If not, the key parameter w is judged by a primary judgment formula, but twice1、w2、w5And σL1The setting needs to be distinguished, and the adjustment and the setting are carried out according to the specific application scene and the parameters of the receiver, so that the cycle jump can be better detected and corresponding processing can be carried out under single frequency, double frequency and triple frequency.
3. Posture output module based on search convergence method
The GNSS attitude determination model is as follows:
wherein E (-) represents expectation, D (-) represents variance, vec (-) is vector error correction function, Y is 2fs × r-dimensional matrix containing double-difference observation value of each base line pseudo code carrier, Z is fs × r-dimensional integer ambiguity matrix, N is 2fs × fs matrix containing carrier length information, M is 2fs × 3-dimensional direction matrix containing receiver to navigation satellite in agreement earthDirection cosine information on the coordinate system, R represents the attitude matrix, B is the base line matrix in the carrier coordinate system, QyyA baseline observation variance matrix is defined as dimension 2fs × 2fs, f is the frequency of the baseline pseudocode carrier double-difference observation signal, s is the number of antennas to track, r is the number of antennas, and q is the attitude matrix dimension related to the number of antennas.
Through ambiguity estimation, an ambiguity floating solution matrix can be obtainedSum attitude matrix floating point solution matrixIf the ambiguity fixed solution Z can be obtained, then the solution can be obtainedAnd calculating to obtain the attitude matrix.
In the attitude determination model, a carrier coordinate system B is a known prior information limiting condition, an integer limitation exists in a whole-cycle ambiguity matrix Z, an orthogonal limitation exists in an attitude matrix R, the unknowns mainly solved are the whole-cycle ambiguity matrix Z and the attitude matrix R, and the minimum residual weighted square norm of the model obtained by using the minimum integer two multiplication is shown as a formula (4).
If the required attitude matrix R is required, the integer ambiguity Z needs to be determined first.
Wherein, representing an attitude float solution matrix derived from an ambiguity float solution matrix,is the attitude matrix derived from the current integer ambiguity matrix,for an observed variance matrix based on an ambiguity floating solution matrix,is an observed variance matrix based on an attitude floating solution matrix.
Using omega (χ)2) Represents the search space, as shown in equation (7):
if the boundary value χ2Too large a setting will greatly reduce the search efficiency. If the settings are too small, the optimal ambiguity solution is easily missed. Chi shape2The value of (a) becomes very important. To solve this problem, a maximum and minimum search space boundary value is first set.
Wherein λmAnd λMAre respectively a matrixA minimum eigenvalue and a maximum eigenvalue,is a matrixThe ith column vector, and their relationship is as follows:
and:
in order to effectively search out the solution of the optimal integer ambiguity and solve out the attitude matrix. The integer ambiguity is fixed by using a search convergence method, and the algorithm process is shown in fig. 4.
Is preferably selected asAnd Z0An initial value is set to be a value,can be set to a larger initial value, and Z0The ambiguity floating point solution can be directly obtained by rounding. Then by searching for the integer ambiguity ZkIf Z can be foundkValue of so that C (Z)k+1) Is less than C (Z)k) At this time, x is updated2Value of (2), i.e. updating the search space omega2. Finding the minimum search space omega2Then, in orderAs C1Boundary of (Z) at Ω1The search space is searched for all possible integer ambiguity solutions, if only one, the ambiguity being the searched ambiguity. If more than one, finding the optimal integer ambiguity solution using Integer Least Squares (ILS)(i.e., enhanced ambiguity for Single-platform attitude)Or). After the optimal integer ambiguity is obtained, the attitude matrix can be obtained by formula calculation.
4. Attitude ambiguity enhancement relative position resolving module
As shown in the flowchart of fig. 5, a single platform main antenna is first used for single-point positioning, then differential processing is performed, and ambiguity under double differences can be searched by using the LAMBDA methodMeanwhile, after a single platform is subjected to attitude calculation, attitude-enhanced ambiguity values can be obtained respectivelyAnd(i.e., the optimal integer ambiguity obtained for the attitude solution)) The value of the optimum ambiguity is determined using equation (13).
In the formula (13), the reaction mixture is,for ambiguity floating solutions, ZpFor the optimal integer ambiguities and double-differenced lower ambiguities for each platform,a baseline floating point solution is represented that is,a baseline fixed solution is represented that is,and respectively representing covariance matrixes of corresponding values of the ambiguity floating solution and the base line floating solution.
Obtaining an optimal ambiguity solutionThen, the relative position between the platforms can be obtained by substituting the equation (14).
In formula (14):an estimate, which initially uses the least squares method, indicating no ambiguity participation;to disregard the relative position of the ambiguities and the covariance matrix between the ambiguities float solution matrices.
The attitude ambiguity enhancement relative position resolving module has strong anti-interference performance, if the ambiguity value error of attitude matrix resolving is large, the ambiguity value error can be identified through the formula (13) calculation, and the ambiguity value obtained by resolving under the differential processing is used. The method has a good decoupling effect on the relative position determination of the whole platform, namely the error of the attitude determination algorithm module part does not influence the calculation of the relative position.
In conclusion, the invention has the following beneficial effects:
(1) the built multi-GNSS antenna combined platform position integrated determining device can determine the relative position between platforms while determining the attitude, the multi-GNSS antenna configuration of each platform comprises a main antenna and three slave antennas which are distributed under a three-dimensional coordinate system of a navigation platform, the main antenna and other antennas of the same platform perform attitude determination calculation and solve the relative position between the platforms with other combined platforms, the problem that the antenna is distributed on the same platform rigid body to cause that one attitude error in attitude output is obviously larger than the other two attitude errors is solved through reasonable layout of the antennas, and the determined distance between the antennas on the single platform is used as a saline base line limiting condition in subsequent attitude calculation;
(2) the pose integrated determination method comprises the following steps: the carrier signal differential sequence received by each platform GNSS receiver is subjected to multi-frequency detection and repair by adopting a multi-channel carrier phase differential sequence method, a double-difference carrier phase observation signal is obtained by a double-difference model, and the multi-channel carrier phase differential sequence method is used for detecting again after adjusting the value of a discriminant parameter when a cycle-slip signal is not detected for the first time, so that the detection omission phenomenon which sequentially occurs in detection is avoided, and single-frequency, double-frequency and triple-frequency cycle-slip signals can be effectively detected and repaired; a convergence search space method considering ambiguity integer limitation, attitude matrix orthogonal limitation and baseline prior information limitation is adopted to seek the integer ambiguity and resolve the single-platform attitude, so that the ambiguity search efficiency is effectively improved; the single-point positioning difference processing of the single platform main antenna is carried out, the lower ambiguity of double-check is searched, then the relative position between the platforms is determined according to the whole-cycle ambiguity and the lower ambiguity of double-difference, and the anti-interference performance of the relative position calculation is improved;
(3) when the ambiguity error of attitude moment calculation is large, the relative position between the platforms is determined by double-difference ambiguity, which has a good decoupling function for determining the relative position of the whole platform, namely the error of the attitude determination algorithm module part does not influence the calculation of the relative position.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. With this understanding in mind, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present invention.
Claims (7)
1. The integrated determining device of many GNSS antenna combination platform position appearance, its characterized in that includes: two multi-GNSS antenna configuration units, a data preprocessing unit, two attitude output modules and a relative position resolving module,
the multi-GNSS antenna configuration unit comprises a main antenna and a slave antenna which are distributed in a three-dimensional space of a navigation platform and provide a baseline priori information limiting condition of each platform for attitude determination, the main antenna is used for performing attitude determination and resolving with the slave antenna of the same platform and resolving relative positions between platforms with main antennas of other platforms,
the data preprocessing unit: the device is used for detecting, repairing and differentially processing multi-frequency cycle hopping of carrier phase data received by each multi-GNSS antenna configuration unit to obtain a baseline pseudo code carrier double-difference observation signal,
each posture output module: used for converging and searching space according to a baseline pseudo code carrier double-difference observation signal output by the data preprocessing unit to solve the ambiguity of single platform attitude enhancement, then determining the single platform attitude according to the ambiguity of the single platform attitude enhancement,
the relative position calculating module: the system is used for resolving ambiguity under double differences according to baseline pseudo code carrier double difference observation signals output by the data preprocessing unit, determining optimal ambiguity according to single platform attitude enhanced ambiguity output by each attitude output module and the ambiguity under double differences, and resolving the relative position of the platform according to the optimal ambiguity.
2. The method for determining the integrated pose of the multi-GNSS antenna combined platform is characterized by being realized by the device of claim 1, and specifically comprising the following steps:
A. carrying out multi-frequency cycle slip detection, restoration and differential processing on carrier phase data received by each multi-GNSS antenna configuration unit to obtain a baseline pseudo code carrier double-difference observation signal;
B. seeking the optimal integer ambiguity and resolving the single-platform attitude by adopting a convergence search space method considering ambiguity integer limitation, attitude matrix orthogonal limitation and baseline prior information limitation;
C. and (4) determining the optimal ambiguity by adopting an attitude ambiguity enhancement method and then resolving the relative position of the platform.
3. The method for determining multi-GNSS antenna combination platform pose integration according to claim 2, wherein step A comprises the following steps of performing multi-frequency cycle slip detection and repair and differential processing on carrier phase data received by each multi-GNSS antenna configuration unit to obtain a baseline pseudo code carrier double difference observation signal:
a1, performing multi-frequency cycle slip detection and repair processing on the carrier phase signals received by each platform by adopting a multi-channel carrier phase differential sequence method: detecting a single platform carrier phase signal by a differential sequence hopping sequence discriminant, removing a cycle-hopping change signal when the single platform carrier phase signal is detected to have cycle-hopping change, otherwise, carrying out primary detection by the differential sequence hopping sequence discriminant and removing a cycle-hopping change signal detected again when the cycle-hopping change signal is detected again, wherein the values of parameters in the differential sequence hopping discriminant for detecting the cycle-hopping signals twice are different;
a2, performing single difference processing on the single platform carrier phase signals with the cycle jump signals removed to obtain single platform carrier phase observation signals, and performing double difference processing on the carrier phase observation signals of each platform to obtain double difference carrier phase observation signals.
4. The method for determining pose integration of multi-GNSS antenna combination platform according to claim 3, wherein step B seeks the optimal integer ambiguity by:
b1, establishing GNSS attitude determination model based on ambiguity integer limit, attitude matrix orthogonal limit and baseline priori information limit to estimate ambiguity floating solution matrix
The GNSS attitude determination model is as follows: e (y) ═ MRB + NZ, D (vec (y) ═ QYY，
Wherein E (-) is expectation, D (-) is variance, vec (-) is vector error correction function, Y is 2fs × r dimensional matrix containing double-difference observation value of each base line pseudo code carrier, Z is fs × r dimensional integer ambiguity matrix, N is 2fs × fs dimensional matrix containing carrier length information, and M is direction cosine information containing GNSS receiver to navigation satellite on protocol earth coordinate systemA 2fs × 3 dimensional direction matrix, R is a posture matrix, B is a base line matrix under a carrier coordinate system, the base line information in the base line matrix is determined by the distance between a master antenna and a slave antenna on a single platform, QyyA 2fs × 2fs dimension baseline observation variance matrix, f is the frequency of a baseline pseudo code carrier double-difference observation signal, s is the number of tracked antennas, r is the number of antennas, and q is the dimension of an attitude matrix;
b2, initializing an original search space boundary value and a whole-cycle ambiguity matrix Z;
b3, setting a boundary value of the upper limit of the search space and starting to search the integer ambiguity:
the search space upper limit boundary value is represented by the expression:it is determined that,representing an attitude float solution matrix derived from an ambiguity float solution matrix,is the attitude matrix derived from the current integer ambiguity matrix,for an observed variance matrix based on an ambiguity floating solution matrix,an observation variance matrix based on the attitude floating point solution matrix;
integer ambiguity Z obtained in the k-th searchk+1So that C (Z)k+1) Less than C (Z)k) When it is, with C (Z)k) Setting the new boundary value of the upper limit of the search space and starting the next search until the search space is reduced to the minimum;
with C (Z)k) And searching again for the new boundary value of the lower limit of the search space so as to determine the optimal integer ambiguity.
5. The method for determining pose integration of multi-GNSS antenna combination platform according to claim 4, wherein step B3 is performed by C (Z)k) And when the new boundary value of the lower limit of the search space is searched again and a plurality of integer ambiguities are searched, determining the optimal integer ambiguities by adopting a least square method.
6. The method for determining the pose integration of the multi-GNSS antenna combined platform according to claim 4 or 5, wherein the specific method for determining the optimal ambiguity by using the attitude ambiguity enhancement method in the step C is as follows:
after the single-point positioning data of the two main antennas are subjected to differential processing, the ambiguity under double differences is searched, and the ambiguity under double differences is represented by an expression:determining optimal ambiguitiesAnd then the relative position of the platform is solved by the optimal ambiguity, wherein,for ambiguity floating solutions, ZpFor the optimal integer ambiguities and double-differenced lower ambiguities for each platform,a baseline floating point solution is represented that is,a baseline fixed solution is represented that is,and respectively representing covariance matrixes of corresponding values of the ambiguity floating solution and the base line floating solution.
7. The method for determining pose integration of multi-GNSS antenna combination platform according to claim 6, wherein: and C, after the single-point positioning data of the two main antennas of the platform are subjected to differential processing, searching ambiguity under double differences by adopting an LAMBD method.
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