CN105445772B - The determination device and method of more GNSS antenna combined platform pose integrations - Google Patents
The determination device and method of more GNSS antenna combined platform pose integrations Download PDFInfo
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- 230000036544 posture Effects 0.000 claims description 45
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/51—Relative positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
- G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
- G01S19/55—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
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Abstract
The invention discloses the determination device and method of more GNSS antenna combined platform poses integration, belongs to the technical field that satellite navigation positions.Determining device, including：GNSS antenna configurational unit more than two, data pre-processing unit, two posture output modules, relative position resolve module, and more GNSS antenna configurational units include being distributed in navigation platform three dimensions provides the primary antenna of each platform baseline prior information restrictive condition and from antenna for posture determination.Determine method：Carrier phase data are carried out with the saltus step detection of multifrequency week and reparation and difference processing obtains baseline pseudo-code carrier wave double difference observation signal；Optimal integer ambiguity is sought using the convergence search space method limited comprising baseline prior information and resolves single platform stance；Platform relative position is resolved after determining optimal fuzziness using gesture ambiguity degree enhancing method.The present invention is resolved using multi-platform, multiple antennas constraint information coupling, and can also improve relative position while improving posture and determining performance determines performance.
Description
Technical field
The invention discloses the determination device and method of more GNSS antenna combined platform poses integration, belong to satellite fix
The technical field of navigation.
Background technology
GNSS plays an important role in current national economy and national defense construction, and GNSS of new generation flourishes.It is beautiful
State is actively pushing forward GPS modernization constructions, including increases new army's code (M codes) and new civil signal (L2C and L5C), meter
Draw and GPS is developed into three frequency observation systems.The Galileo plans in Europe will also provide multiple-frequency signal, be sent out in 2005,2008
Two test satellites have been penetrated, and two first batch of satellites were transmitted in 2011.Examined based on national security and navigation independence etc.
Consider, Russia decides to continue with three display systems for maintaining GLONASS to run and developing a new generation.China has built the " Big Dipper one
Number " region satellite navigation system, " Big Dipper two " GPS is built, and is joined in 2009 to international telecommunication
Alliance has applied for B1, B2, B3 frequency band, launches five kinds of navigation signals of B1-C, B1, B2, B3, B3-A.GPS, GLONASS, Galileo with
And the Big Dipper in China two is GNSS main at present, military, civilian field can be directed to different satellite-signals are provided.
GNSS has been applied in the every field such as sea, land and sky, day, and wherein aerospace navigation is GNSS important applications neck
Domain.Navigation performance is embodied in four precision, integrity, continuity and availability aspects, and International Civil Aviation Organization is just making great efforts to make GNSS
Meets the needs of all mission phases.GNSS can meet air route, terminal, non-precision approach demand at present；Space-based enhancing (including
WAAS, EGNOS etc.) reach I class precision approach demands；II/III classes precision approach (CATII/CATIII, performance requirement such as table
Shown in 1) navigation is just under study for action.But from the point of view of current achievement in research, due to that using pseudorange observation, can not meet
CATIII, the demand of airport ground motion.
Table 1GNSS is used for the navigation performance demand that precision approach lands
Survey code pseudorange and carrier phase are two class basic observations of GNSS system.Based on pseudorange observation (including absolute mould
Formula and difference modes) it can not meet such as aircraft auto landing on deck, air refuelling, airport ground motion, ship self-docking, cross pair
Connect, the high-precision navigation needs such as precision approach.And there is higher precision in carrier phase observation, there is Centimeter Level even grade
Potential performance, but the solution of carrier observations fuzziness, be the key that the navigation of carrier observations centimeter-level positioning is realized.
From the point of view of domestic and international present Research, determined for GNSS relative positions and posture, be generally all to separate processing, i.e.,
Independent alignment system, attitude determination system are separately designed, the former is positioned using the GNSS differential datas between platform, Hou Zheli
Posture determination is carried out with the GNSS multiple antennas of single platform.This mode divided and rule, does not make full use of multi-platform
GNSS resources, multi-platform constraint information is not considered yet and limits the raising of performance.While adverse circumstances (such as spacecrafts rendezvous,
Blocking during air refuelling causes visible star deficiency, multipath effect etc.) further reduce position, the success rate of attitude algorithm.
The content of the invention
The technical problems to be solved by the invention are the deficiencies for above-mentioned background technology, there is provided more GNSS antenna combinations
The determination device and method of platform's position and pose integration, utilization is multi-platform, the coupling of multiple antennas constraint information resolves, and is improving posture
Relative position can also be improved by determining while performance determines performance, solves the true based on GNSS carrier wave relative positions of separated design
Determine scheme and posture determines scheme because ignoring the technical problem that baseline limits thus limits the raising of positioning and orientation precision.
The present invention adopts the following technical scheme that for achieving the above object：
The determining device of more GNSS antenna combined platform pose integrations, including：GNSS antenna configurational unit, number more than two
Data preprocess unit, two posture output modules, relative position resolve module,
More GNSS antenna configurational units include being distributed in navigation platform three dimensions to be determined to provide each put down for posture
The primary antenna of stylobate line prior information restrictive condition and from antenna, primary antenna is used to carry out determine appearance resolving from antenna with same platform
And the relative position between platform is resolved with other platform primary antennas,
The data pre-processing unit：Carrier phase data for being received to each more GNSS antenna configurational units carry out more
Frequently the detection reparation of all saltus steps and difference processing obtain baseline pseudo-code carrier wave double difference observation signal,
Each posture output module：For the baseline pseudo-code carrier wave double difference observation exported according to data pre-processing unit
Convergence signal search space is to resolve the fuzziness of single platform stance enhancing, then the fuzziness strengthened by single platform stance determines this
Single platform stance,
The relative position resolves module：For the baseline pseudo-code carrier wave double difference observation exported according to data pre-processing unit
Signal resolves fuzziness under double difference, moulds under the fuzziness and double difference that strengthened by single platform stance of each posture output module output
Paste degree determines optimal fuzziness, by the relative position of optimal ambiguity resolution platform.
The determination method of more GNSS antenna combined platform pose integrations, is realized using described device, specifically included as follows
Step：
A, the carrier phase data that each more GNSS antenna configurational units receive are carried out the saltus step detection of multifrequency week and repair with
And difference processing obtains baseline pseudo-code carrier wave double difference observation signal；
B, using the convergence for considering the limitation of fuzziness integer, the orthogonal limitation of attitude matrix and the limitation of baseline prior information
Search space method seeks optimal integer ambiguity and resolves single platform stance；
C, platform relative position is resolved after determining optimal fuzziness using gesture ambiguity degree enhancing method.
Further, in the determination method of more GNSS antenna combined platform pose integrations, step A uses such as lower section
The carrier phase data that method receives to each more GNSS antenna configurational units are carried out at the saltus step detection of multifrequency week and reparation and difference
Reason obtains baseline pseudo-code carrier wave double difference observation signal：
A1, the carrier phase signal received using multichannel carrier phase difference serial method to each platform carry out the saltus step of multifrequency week
Detection and repair process：Single platform carrier phase signal is detected by difference sequence week saltus step discriminate, carried detecting single platform
Wave phase signal has all saltus step time shifts to remove this week skip signal, otherwise, then is once visited by difference sequence week saltus step discriminate
Survey and remove all skip signals for detecting again detecting all skip signal time shifts again, detect the difference of all skip signals twice
Parameter value in sub-sequence week saltus step discriminate is different；
A2, the single poor processing of single platform carrier phase signal progress to eliminating all skip signals obtain single platform carrier wave phase
Position observation signal, then double difference is carried out to the carrier phase observation signal of each platform and handles to obtain carrier phase observation letter under double difference
Number.
Further, in the determination method of more GNSS antenna combined platform pose integrations, step B uses such as lower section
Method seeks optimal integer ambiguity：
B1, establish the GNSS based on the limitation of fuzziness integer, the orthogonal limitation of attitude matrix and the limitation of baseline prior information
Posture determines model with ambiguous estimation degree floating-point dematrix
The GNSS postures determine that model is：E (Y)=MRB+NZ, D (vec (Y))=QYY,
Wherein, for E () it is expected, D () is variance, and vec () is vector error correction function, and Y is to include each base
2fs × r dimension matrixes of line pseudo-code carrier wave double difference observation, Z are that fs × r ties up integer ambiguity matrix, and N is to believe comprising carrier wavelength
2fs × fs dimension matrixes of breath, M are comprising GNSS receiver to aeronautical satellite the direction cosines information on conventional terrestrial coordinate system
2fs × 3-dimensional direction matrix, R is attitude matrix, and B is the baseline matrix under carrier coordinate system, the baseline letter in baseline matrix
Cease and determined by the distance between principal and subordinate's antenna on single platform, QYYFor 2fs × 2fs Wiki line observational variance matrixes, f carries for baseline pseudo-code
The frequency of ripple double difference observation signal, the number of antennas that s is tracking, r are number of antennas, and q is the dimension of attitude matrix；
B2, initialization initial search space boundary value and integer ambiguity matrix Z；
B3, search space upper confinement boundary value is set and starts to search for integer ambiguity：
Search space upper confinement boundary value is by expression formula：Really
It is fixed,The posture floating-point dematrix obtained by fuzziness floating-point dematrix is represented,It is by current integer ambiguity matrix
Obtained attitude matrix,For the observational variance battle array based on fuzziness floating-point dematrix,For based on posture floating-point dematrix
Observational variance battle array；
In the integer ambiguity Z that kth time search obtainsk+1So that C (Zk+1) it is less than C (Zk) when, with C (Zk) it is search space
The new boundary value of the upper limit simultaneously starts search next time until search space is reduced to minimum；
With C (Zk) re-search for for the new boundary value of search space lower limit and then determine optimal integer ambiguity.
Further, in the step B3 of the determination method of more GNSS antenna combined platform pose integrations, with C (Zk)
When new boundary value for search space lower limit re-searches for and searches multiple integer ambiguities, determined most using least square method
Excellent integer ambiguity.
Further, in the determination method of more GNSS antenna combined platform pose integrations, step C uses posture mould
Paste degree enhancing method determines that the specific method of optimal fuzziness is：
To searching for fuzziness under double difference after the One-Point Location data difference processing of two platform primary antennas, by expression formula：Determine optimal fuzzinessAgain by optimal ambiguity resolution platform
Relative position, wherein,For fuzziness float-solution, ZpFor fuzziness under the optimal integer ambiguity and double difference of each platform,
Baseline float-solution is represented,Baseline fixed solution is represented,Fuzziness float-solution, baseline float-solution are represented respectively
The covariance matrix of respective value.
Further, in the step C of the determination method of more GNSS antenna combined platform pose integrations, to two platforms
Using fuzziness under LAMBD methods search double difference after the One-Point Location data difference processing of primary antenna.
The present invention uses above-mentioned technical proposal, has the advantages that：
(1) the more GNSS antenna combined platform pose integration determining devices built, it is determined that can be true while posture
Relative position between fixed platform, more GNSS antenna configurations of each platform, which include, to be distributed under navigation platform three-dimensional system of coordinate
One primary antenna and three from antenna, primary antenna with the other antennas of platform determine appearance resolve and with the resolving of other combined platforms
Relative position between platform, solving antenna by rational deployment antenna and be distributed on identical platform rigid body causes posture to export
In a certain attitude error the problem of being noticeably greater than another two attitude error, it has been determined that single platform on after antenna distance is used as
Priori baseline restrictive condition in continuous attitude algorithm；
(2) pose integration determination method：Each platform GNSS receiver is connect using multichannel carrier phase difference serial method
The carrier signal difference sequence received carries out multifrequency detection and reparation, and obtains carrier phase observation letter under double difference by double difference model
Number, multichannel carrier phase difference serial method is visited again after adjusting discriminate parameter value when not detecting all skip signals first
Survey, avoid the detection leakage phenomenon that detection occurs successively, can effective detection reparation single-frequency, double frequency, the three all skip signals of frequency；Using examining
The convergence search space method for having considered the limitation of fuzziness integer, the orthogonal limitation of attitude matrix and the limitation of baseline prior information is sought
Integer ambiguity simultaneously resolves single platform stance, effectively improves ambiguity search's efficiency；To the One-Point Location of single platform primary antenna
Difference processing and search for it is double look into lower fuzziness, then the relative position between platform is determined by fuzziness under integer ambiguity and double difference
Put, improve the anti-interference of relative position resolving；
(3) relative position between platform is determined by double difference fuzziness when the fuzziness error of attitude algorithm is larger, this is right
The determination of whole platform relative position has a good decoupling function, i.e. posture determines that the error of algoritic module part will not shadow
Ring the resolving of relative position.
The additional aspect of the present invention and advantage will be set forth in part in the description, and these will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is GNSS pose integration determining device general function figures；
Fig. 2 is the schematic diagram of combined platform multiple antennas configuration；
Fig. 3 is the flow chart of multifrequency next week transition detection restorative procedure；
Fig. 4 is search convergence algorithm flow chart；
Fig. 5 is that gesture ambiguity degree strengthens relative position resolving flow chart.
Embodiment
Embodiments of the present invention are described below in detail, the embodiment below with reference to accompanying drawing description is exemplary
, it is only used for explaining the present invention, and be not construed as limiting the claims.
It will be understood to those skilled in the art that unless otherwise defined, all terms used herein (including technical term
And scientific terminology) there is the general understanding identical meaning of the ordinary technical staff in the technical field of the invention.Should also
Understand, those terms defined in such as general dictionary, which should be understood that, to be had and the meaning in the context of prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or the implication of overly formal be explained.
It is proposed that a kind of position to GNSS, posture determine that carrying out coupling sets for the present invention of defect present in prior art
The new approaches of meter, the GNSS multiaerial systems of motion platform are additionally operable to relative between motion platform except being determined for posture
Position determines, makes full use of multi-platform, multiple antennas constraint information coupling to resolve, can also while improving posture and determining performance
Improve relative position and determine performance.
Combination multiple antennas platform relative positioning and posture of the present invention based on carrier phase determine coupling device such as
Shown in Fig. 1, including the more GNSS antenna configurational units of combined platform 2, data pre-processing unit, posture output module and relative position
Put resolving module.Wherein, the more GNSS antenna configurational units of combined platform use three-dimensional antenna configuration；Data pre-processing unit is to list
The carrier phase observation data of individual platform multiple antennas satellite navigation receiver are pre-processed, including each platform carrier phase is believed
Number carry out Multipath Errors detection and repair, single poor, double difference is carried out to the carrier phase signal after reparation handle to obtain baseline puppet
Code carrier wave double difference observation signal；Baseline pseudo-code carrier wave double difference observation signal is input into posture output module can resolve single platform
The fuzziness and attitude information of posture enhancing；Relative position resolves modular unit by combining values of ambiguity and posture under double difference
The ambiguity resolution of enhancing obtains relative position information between platform.Each more GNSS antenna configurational units export what each platform received
For carrier phase data to data pre-processing unit, data pre-processing unit exports baseline pseudo-code carrier wave double difference observation signal to each appearance
State output module and relative position resolve module, and posture output module exports the fuzziness of the single platform stance enhancing resolved to phase
Module is resolved to position and exports each platform stance of resolving, phase position resolves the platform relative position letter that module output resolves
Breath.
1st, the more GNSS antenna configurational units of combined platform
When general spaceborne receiver multiple antennas is arranged on single platform, antenna can be distributed on same Rigid Planar,
So ensure the homogeneity of each aerial signal quality.Between antenna and indifference, carry out installation using the antenna of same specification and match somebody with somebody
Put.The combined platform multiple antennas configuration of the present invention has the difference of two aspects therewith, as shown in Fig. 2 first, being day DNA mitochondrial DNA point
On single platform, solve antenna by the platform space of reasonable layout antenna and be distributed on same platform rigid body causes cloth
Posture output in some attitude error the problem of being noticeably greater than the error of another two posture.Divide primary and secondary antenna, primary antenna removes
Need with platform other antennas determine appearance resolve it is outer, it is also necessary to the relative position between other combined platforms resolving platform
Put, therefore the requirement to its stability is higher than other antennas, and it is other be mainly used in attitude algorithm from antenna, to its performance requirement ratio
Low is required to primary antenna.Therefore so antenna configuration can be effectively cost-effective in the case where ensureing to determine appearance positioning performance.
The distance between antenna has been precisely determined between wherein single platform, as priori baseline limitation bar in follow-up attitude algorithm
Part.
2nd, based on multifrequency week transition detection and the data pre-processing unit repaired
The carrier phase observation data that data pre-processing unit exports to satellite navigation receiver pre-process, including difference
Divided data processing, Detection of Cycle-slip reparation, Multipath Errors detect, establish difference model.But because the stereoscopic configurations of antenna are pacified
Dress so that primary antenna and signal quality difference from antenna are bigger.In addition the high dynamic of integrated navigation and location platform so that
Receiver noise is increased, and signal interruption possibility is big, and signal level is unstable etc. so that cycle slip transfiguration is also easy to produce.It is therefore of the invention
Single-frequency Detection of Cycle-slip reparation is improved, is allowed to detect and repair very well cycle slip under double frequency even three frequencies.
There are many methods to be used to detecting and repairing cycle slip at present, such as Ionosphere Residual Error method, M-W combined detection methods, with
And polynomial fitting method etc..Ionosphere Residual Error method and M-W combined detections method are more effective to double frequency volume multifrequency phase, but can not
Handle the cycle slip problem of single-frequency carrier phase measured value and repair problem, and polynomial fitting method can to single-frequency measured value or
Double frequency measurement in a closed series value is effective, but needs phase change rate, and it was adjusted helpless to week of less than 5 weeks in addition, application by
To limitation.
The first difference of carrier phase represents the change of the distance between satellite and receiver, equal in the sampling interval duration
The average value of satellite radial velocity is multiplied by sampling interval duration, and the change of radial velocity average value will gently much.With to carrying
The multi-difference of wave phase, in the case of not all saltus steps so that it shows accidental error.Once there are all saltus steps, just
The accidental error characteristic of four difference sequences of carrier phase can be destroyed, anomaly occurs.
Single-frequency and double frequency week transition detection are carried out using carrier phase difference sequence and reparation is relatively common, but to three frequencies
All transition detections and repairing effect are undesirable, and carrier phase difference sequence is improved by this patent, obtain multichannel carrier phase
Difference sequence method.Can be still effective to three frequencies in the case of effective to single-frequency and double frequency week transition detection and reparation.
In general, a receiver has following relation in the case of receiving a satellite and single-frequency：
Δtλ Φ=Δtρ+λΔtN+Δt(I+T+S+M+λe) (1)
Wherein, ΔtThe time difference between adjacent epoch is represented, Φ represents the carrier phase value measured, and ρ represents receiver
To the distance of satellite, λ represents carrier signal length, and I represents ionosphere delay, and T represents tropospheric delay, and S represents that satellite orbit misses
Difference, M represent multipath delay, and e represents thermal noise error, wherein, ΔtN represents all saltus steps.For single-frequency, troposphere is prolonged
It is bigger to delay the detection influence on all saltus steps such as poor, ionosphere delay error and Multipath Errors.It is contemplated that this dress
Put the more combined platforms of multiple antennas characteristic and main application scenarios on satellites formation, can eliminate one plus double difference model
A little errors.Therefore only need whether carrier phase after detecting difference three times meets accidental error characteristic (i.e. to single-frequency week transition detection
Gaussian Profile), if detecting anomaly, i.e. there occurs all saltus steps.
, it is necessary to use below equation for double frequency or three frequencies：
Wherein, w1、w2、w5And σL1Need reasonably to set for specific application scenarios, to reach the mesh for detecting all saltus steps
's.But if the formula of sentencing only more than use is handled, detection leakage phenomenon is occurred to some Xiao Zhou's saltus steps (less than 5), this
Kind of situation under the situation of three frequencies than more prominent, therefore on this basis on, design effective below for single-frequency, double frequency and three frequencies
All saltus step inspections and recovery scenario.
As shown in figure 3, detected whether all saltus steps by discriminate first, if so, be directly entered all saltus steps determine and
Remove link.If not provided, differentiated by a discriminate, but key parameter w twice1、w2、w5And σL1Setting
To have differentiation when putting, adjustment and setting are carried out according to concrete application scene and the parameter of receiver, this ensure that its single-frequency,
All saltus steps can be preferably detected under double frequency and three frequencies and are handled accordingly.
3rd, based on search convergence method posture output module
GNSS postures determine that model is as follows：
Wherein, E () represents it is expected, D () represents variance, and vec () is vector error correction function, and Y is 2fs × r
Matrix is tieed up, wherein including each baseline pseudo-code carrier wave double difference observation.Z is that fs × r ties up integer ambiguity matrix, and N is 2fs × fs
Matrix, wherein including carrier wavelength information.M is 2fs × 3-dimensional direction matrix, wherein comprising receiver to aeronautical satellite in agreement
The direction cosines information that terrestrial coordinates is fastened, R represent attitude matrix, and B is baseline matrix under carrier coordinate system, QYYFor 2fs
× 2fs Wiki line observational variance matrixes.The number of antennas that f is the frequency of baseline pseudo-code carrier wave double difference observation signal, s is tracking, r
For number of antennas, q is the attitude matrix dimension relevant with number of antennas.
Estimated by fuzziness, fuzziness floating-point dematrix can be obtainedWith attitude matrix floating-point dematrixIf energy
Fuzziness fixed solution Z is accessed, then can resolve to obtainSo as to resolve to obtain attitude matrix.
In posture determines model, carrier coordinate system B is known prior information restrictive condition, and integer ambiguity matrix Z has
Integer limits, and attitude matrix R is orthogonal limitation, and the unknown number mainly solved is integer ambiguity matrix Z and attitude matrix R, is made
Obtained with smallest positive integral square law shown in model least residual weighted quadratic norm such as formula (4).
If it is desired to attitude matrix R, it is necessary to first determine integer ambiguity Z.
Wherein, Expression is obtained by fuzziness floating-point dematrix
The posture floating-point dematrix arrived,It is the attitude matrix obtained by current integer ambiguity matrix,To be floated based on fuzziness
The observational variance battle array of point dematrix,For the observational variance battle array based on posture floating-point dematrix.
Use Ω (χ2) search space is represented, as shown in (7) formula：
If boundary value χ2What is set is excessive, and search efficiency will substantially reduce.If what is set is too small, easily miss most
Excellent solution of fuzzy degree.χ2Value become extremely important.In order to solve this problem, a minimum and maximum search space is first set
Boundary value.
Wherein λmAnd λMIt is matrix respectivelyMinimal eigenvalue and eigenvalue of maximum,For matrixI-th arrange to
Amount, and their relation is as follows：
And：
In order to effectively search out the solution of optimal integer ambiguity, and calculate attitude matrix.Consolidated using convergence method is searched for
Determine integer ambiguity, its algorithmic procedure is as shown in Figure 4.
First choice isAnd Z0One initial value is set,It could be arranged to a larger initial value, and Z0Can be direct
Fuzziness float-solution is rounded to obtain.Then by searching for integer ambiguity ZkValue, if it is possible to find ZkValue so that C
(Zk+1) value be less than C (Zk) value, at this moment update χ2Value, that is, update search space Ω2.Find the search space Ω of minimum2
Afterwards, withAs C1(Z) border, in Ω1All possible integer ambiguity solution is searched in search space, if only one
Individual, the fuzziness is searched for fuzziness.If more than one, found out using integer least square method (ILS) optimal whole
All solution of fuzzy degree(it is the fuzziness of single platform stance enhancingOr)., can be with root after obtaining optimal integer ambiguity
Attitude matrix is calculated according to formula.
4th, gesture ambiguity degree enhancing relative position resolves module
As shown in Fig. 5 flow chart, One-Point Location is carried out first with single platform primary antenna, then carries out difference processing,
The fuzziness under double difference is may search for using LAMBDA methodsMeanwhile after single platform is by attitude algorithm, it can obtain respectively
The values of ambiguity strengthened to postureWith(it is the optimal integer ambiguity that attitude algorithm obtains), using formula (13) come really
The value of fixed optimal fuzziness.
In formula (13),For fuzziness float-solution, ZpFor fuzziness under the optimal integer ambiguity and double difference of each platform,Baseline float-solution is represented,Baseline fixed solution is represented,Represent that fuzziness float-solution, baseline float respectively
The covariance matrix of point solution respective value.
Obtain optimal solution of fuzzy degreeAfterwards, substituted into (14) formula, can resolve to obtain the relative position between platform.
In formula (14)：Represent what no fuzziness participated in, the initial estimate for using least square method；Not consider
Covariance matrix between the relative position and fuzziness floating-point dematrix of fuzziness.
The anti-interference that this gesture ambiguity degree enhancing relative position resolves module is stronger, if what attitude matrix resolved
Values of ambiguity error is larger, may be discernable by the calculating of (13) formula, then uses the fan for resolving to obtain under difference processing
The value of paste degree.This determines there is a good decoupling function to whole platform relative position, i.e. posture determines algoritic module portion
The error divided does not interfere with the resolving of relative position.
In summary, the invention has the advantages that：
(1) the more GNSS antenna combined platform pose integration determining devices built, it is determined that can be true while posture
Relative position between fixed platform, more GNSS antenna configurations of each platform, which include, to be distributed under navigation platform three-dimensional system of coordinate
One primary antenna and three from antenna, primary antenna with the other antennas of platform determine appearance resolve and with the resolving of other combined platforms
Relative position between platform, solving antenna by rational deployment antenna and be distributed on identical platform rigid body causes posture to export
In a certain attitude error the problem of being noticeably greater than another two attitude error, it has been determined that single platform on after antenna distance is used as
Priori baseline restrictive condition in continuous attitude algorithm；
(2) pose integration determination method：Each platform GNSS receiver is connect using multichannel carrier phase difference serial method
The carrier signal difference sequence received carries out multifrequency detection and reparation, and obtains carrier phase observation letter under double difference by double difference model
Number, multichannel carrier phase difference serial method is visited again after adjusting discriminate parameter value when not detecting all skip signals first
Survey, avoid the detection leakage phenomenon that detection occurs successively, can effective detection reparation single-frequency, double frequency, the three all skip signals of frequency；Using examining
The convergence search space method for having considered the limitation of fuzziness integer, the orthogonal limitation of attitude matrix and the limitation of baseline prior information is sought
Integer ambiguity simultaneously resolves single platform stance, effectively improves ambiguity search's efficiency；To the One-Point Location of single platform primary antenna
Difference processing and search for it is double look into lower fuzziness, then the relative position between platform is determined by fuzziness under integer ambiguity and double difference
Put, improve the anti-interference of relative position resolving；
(3) relative position between platform is determined by double difference fuzziness when the fuzziness error of attitude algorithm is larger, this is right
The determination of whole platform relative position has a good decoupling function, i.e. posture determines that the error of algoritic module part will not shadow
Ring the resolving of relative position.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
Realized by the mode of software plus required general hardware platform.Based on such understanding, technical scheme essence
On the part that is contributed in other words to prior art can be embodied in the form of software product, the computer software product
It can be stored in storage medium, such as ROM/RAM, magnetic disc, CD, including some instructions are causing a computer equipment
(can be personal computer, server, or network equipment etc.) performs some parts of embodiments of the invention or embodiment
Described method.
Claims (7)
- The determining device of the combined platform of GNSS antenna more than 1. pose integration, it is characterised in that including：GNSS antenna structure more than two Type unit, data pre-processing unit, two posture output modules, relative position resolve module,More GNSS antenna configurational units include being distributed in navigation platform three dimensions to be determined to provide each platform base for posture The primary antenna of line prior information restrictive condition and from antenna, primary antenna be used for same platform from antenna determine appearance resolving and The relative position between platform is resolved with other platform primary antennas,The data pre-processing unit：Carrier phase data for being received to each more GNSS antenna configurational units carry out multifrequency week The detection reparation of saltus step and difference processing obtain baseline pseudo-code carrier wave double difference observation signal,Each posture output module：For the baseline pseudo-code carrier wave double difference observation signal exported according to data pre-processing unit Search space is restrained to resolve the fuzziness of single platform stance enhancing, then the fuzziness strengthened by single platform stance determines the Dan Ping Platform posture,The relative position resolves module：For the baseline pseudo-code carrier wave double difference observation signal exported according to data pre-processing unit Fuzziness under double difference is resolved, fuzzinesses under the fuzziness and double difference that strengthened by single platform stance of each posture output module output Optimal fuzziness is determined, by the relative position of optimal ambiguity resolution platform.
- The determination method of the combined platform of GNSS antenna more than 2. pose integration, it is characterised in that utilize claim 1 described device Realize, specifically comprise the following steps：A, the carrier phase data that each more GNSS antenna configurational units receive are carried out with the saltus step detection of multifrequency week and is repaired and poor Manage to obtain baseline pseudo-code carrier wave double difference observation signal in office；B, searched for using the convergence for considering the limitation of fuzziness integer, the orthogonal limitation of attitude matrix and the limitation of baseline prior information Space-wise seeks optimal integer ambiguity and resolves single platform stance；C, platform relative position is resolved after determining optimal fuzziness using gesture ambiguity degree enhancing method.
- 3. the determination method of more GNSS antenna combined platform pose integrations according to claim 2, it is characterised in that step The carrier phase data that rapid A receives to each more GNSS antenna configurational units with the following method carry out the saltus step detection of multifrequency week and repaiied Multiple and difference processing obtains baseline pseudo-code carrier wave double difference observation signal：A1, the carrier phase signal received using multichannel carrier phase difference serial method to each platform carry out the saltus step detection of multifrequency week And repair process：Single platform carrier phase signal is detected by difference sequence week saltus step discriminate, is detecting single platform carrier wave phase Position signal has all saltus step time shifts to remove this week skip signal, otherwise, then is once detected simultaneously by difference sequence week saltus step discriminate All skip signals for detecting again are removed detecting all skip signal time shifts again, detect the difference sequence of all skip signals twice The parameter value arranged in all saltus step discriminates is different；A2, the single poor processing of single platform carrier phase signal progress to eliminating all skip signals obtain single platform carrier phase and seen Signal is surveyed, then double difference is carried out to the carrier phase observation signal of each platform and handles to obtain carrier phase observation signal under double difference.
- 4. the determination method of more GNSS antenna combined platform pose integrations according to claim 3, it is characterised in that step Rapid B seeks optimal integer ambiguity with the following method：B1, establish the GNSS postures based on the limitation of fuzziness integer, the orthogonal limitation of attitude matrix and the limitation of baseline prior information Determine model with ambiguous estimation degree floating-point dematrixThe GNSS postures determine that model is：E (Y)=MRB+NZ, D (vec (Y))=QYY,Wherein, for E () it is expected, D () is variance, and vec () is vector error correction function, and Y is pseudo- comprising each baseline 2fs × r dimension matrixes of code carrier wave double difference observation, Z are that fs × r ties up integer ambiguity matrix, and N is to include carrier wavelength information 2fs × fs ties up matrix, and M is the direction cosines information comprising GNSS receiver to aeronautical satellite on conventional terrestrial coordinate system 2fs × 3-dimensional direction matrix, R are attitude matrix, and B is the baseline matrix under carrier coordinate system, the baseline information in baseline matrix Determined by the distance between principal and subordinate's antenna on single platform, QYYFor 2fs × 2fs Wiki line observational variance matrixes, f is baseline pseudo-code carrier wave The frequency of double difference observation signal, the number of antennas that s is tracking, r are number of antennas, and q is the dimension of attitude matrix；B2, initialization initial search space boundary value and integer ambiguity matrix Z；B3, search space upper confinement boundary value is set and starts to search for integer ambiguity：Search space upper confinement boundary value is by expression formula：It is determined thatThe posture floating-point dematrix obtained by fuzziness floating-point dematrix is represented,It is to be obtained by current integer ambiguity matrix The attitude matrix arrived,For the observational variance battle array based on fuzziness floating-point dematrix,For based on posture floating-point dematrix Observational variance battle array；In the integer ambiguity Z that kth time search obtainsk+1So that C (Zk+1) it is less than C (Zk) when, with C (Zk) it is the search space upper limit New boundary value and start next time search until search space be reduced to minimum；With C (Zk) re-search for for the new boundary value of search space lower limit and then determine optimal integer ambiguity.
- 5. the determination method of more GNSS antenna combined platform pose integrations according to claim 4, it is characterised in that step With C (Z in rapid B3k) when re-searching for for the new boundary value of search space lower limit and search multiple integer ambiguities, using most Small square law determines optimal integer ambiguity.
- 6. the determination method of more GNSS antenna combined platform poses integration according to claim 4 or 5, its feature exist In, step C use gesture ambiguity degree enhancing method determine the specific method of optimal fuzziness for：To searching for fuzziness under double difference after the One-Point Location data difference processing of two platform primary antennas, by expression formula：Determine optimal fuzzinessAgain by optimal ambiguity resolution platform Relative position, wherein,For fuzziness float-solution, ZpFor fuzziness under the optimal integer ambiguity and double difference of each platform,Baseline float-solution is represented,Baseline fixed solution is represented,Represent that fuzziness float-solution, baseline float respectively The covariance matrix of point solution respective value.
- 7. the determination method of more GNSS antenna combined platform pose integrations according to claim 6, it is characterised in that：Step To searching for fuzziness under double difference using LAMBD methods after the One-Point Location data difference processing of two platform primary antennas in rapid C.
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| CN109116396B (en) * | 2018-08-09 | 2022-10-21 | 大连理工大学 | Multi-antenna GNSS differential positioning method |
| CN109669203A (en) * | 2019-01-22 | 2019-04-23 | 深圳市北斗云信息技术有限公司 | A kind of GNSS 3 d pose positioning piling navigation aid system and method |
| CN110068847B (en) * | 2019-04-01 | 2021-05-11 | 和芯星通科技(北京)有限公司 | Method and device for positioning and attitude measurement of GNSS multi-antenna receiver |
| CN110133702B (en) * | 2019-05-13 | 2022-12-27 | 桂林电子科技大学 | Attitude measurement method and equipment based on orthogonal transformation |
| CN112394379B (en) * | 2019-08-14 | 2023-11-14 | 清华大学 | Double-antenna combined satellite navigation positioning method and device |
| CN110673182B (en) * | 2019-09-29 | 2021-07-06 | 清华大学 | GNSS high-precision rapid positioning method and device |
| CN112666585A (en) * | 2020-10-26 | 2021-04-16 | 天津大学 | Multi-GNSS antenna high-precision dynamic positioning method based on mobile platform |
| CN113342062B (en) * | 2021-06-10 | 2022-03-25 | 电子科技大学 | Solar tracking system based on double GNSS antennas |
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