CN108181630B - Beidou double-antenna rotation rapid orientation method - Google Patents

Beidou double-antenna rotation rapid orientation method Download PDF

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CN108181630B
CN108181630B CN201711248692.1A CN201711248692A CN108181630B CN 108181630 B CN108181630 B CN 108181630B CN 201711248692 A CN201711248692 A CN 201711248692A CN 108181630 B CN108181630 B CN 108181630B
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beidou
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baseline
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CN108181630A (en
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蔡体菁
陈仁
王鑫
许奇梦
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Southeast University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO

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Abstract

The invention discloses a Beidou double-antenna rotation rapid orientation method, which comprises the steps of calculating a whole-cycle ambiguity double difference value in a carrier phase double difference equation through continuous rotation perpendicular to the direction of a double-antenna baseline according to the relation between a satellite carrier phase double difference value and a satellite unit direction vector and the baseline vector, further solving the baseline vector, and finally obtaining the course of the double-antenna baseline; under the condition that the satellite signal does not generate cycle slip, the obtained integer ambiguity double difference value is effective all the time; and whether the calculated integer ambiguity double difference value is invalid or not can be judged by detecting the length error of the base line. The method has the advantages of small calculated amount, high orientation speed, high precision and strong real-time property.

Description

Beidou double-antenna rotation rapid orientation method
Technical Field
The invention relates to a method for orienting a carrier by using a Beidou satellite navigation system, in particular to a Beidou double-antenna rotating rapid orientation method.
Background
The Beidou satellite navigation system is a global satellite navigation system independently developed and researched in China, and has global, all-weather and continuous navigation and positioning capabilities. The single Beidou antenna can only determine the position and the speed of the carrier, but cannot determine the course of the carrier, the double Beidou antennas can determine the course of the carrier, errors of the double Beidou antennas cannot be accumulated along with time, and the double Beidou antennas have a positioning function. The double-Beidou antenna positioning and orientation has wide requirements and application prospects in the military and civil application fields of navigation and aviation, formation defense, land survey, building survey and the like. The traditional direction-finding methods include magnetic compass, high-precision electronic compass, astronomical measurement method, etc. The magnetic compass has low precision and poor stability and is easily interfered by surrounding electromagnetic fields; high-precision electronic compass is expensive, the initial alignment time is long, and errors are accumulated along with time; the astronomical measurement method can accurately obtain true north, but the installation and the use are complex, and the orientation efficiency is not high.
Disclosure of Invention
The technical problem is as follows: the invention provides a Beidou double-antenna rotating rapid orientation method, and aims to provide a rapid, convenient and reliable orientation method.
The technical scheme is as follows: the invention discloses a Beidou double-antenna rotation rapid orientation method.A hardware device implemented by the Beidou double-antenna rotation rapid orientation method comprises two Beidou antennas, two receivers, a rotation mechanism and a control resolving unit; the two Beidou antennas are respectively connected with the receiver; the two receivers are connected with the control resolving unit; the rotating mechanism is connected with the resolving control unit; and the control resolving unit is responsible for calculating the baseline course and controlling the rotating mechanism to move.
The Beidou satellite main antenna and the slave antenna form a baseline vector, the direction of the baseline vector is from the Beidou satellite main antenna to the slave antenna, and the master and slave antennas are arranged on the rotating mechanism and can rotate freely; because the distance between the two Beidou satellite antennas is short, the Beidou satellite can be considered to be from the master antenna to the slave antenna to the satellite SiAre parallel; when the device is installed, the zero position and the baseline vector of the rotating mechanism are right opposite to the front of the carrier, and then the course of the baseline is the course of the carrier.
The invention discloses a Beidou double-antenna rotating rapid orientation method, which comprises the following steps:
1) calculating the carrier phase single difference value of the Beidou satellite simultaneously received by the master antenna and the slave antenna of the Beidou satellite according to the following formula
Figure BDA0001490419330000011
Figure BDA0001490419330000012
Wherein the content of the first and second substances,
Figure BDA0001490419330000013
indicating the big Dipper satellite main antenna to the big Dipper satellite SiThe carrier phase measurement of (a) is,
Figure BDA0001490419330000014
indicating the big Dipper satellite from the antenna to the big Dipper satellite SiOf the carrier phase measurement, SiThe Beidou satellite with the number i is represented, and i is the number of the Beidou satellite simultaneously received by the Beidou satellite master-slave antenna;
2) calculating the distance from the Beidou satellite main antenna to the Beidou satellite S under the geographic coordinate systemiUnit direction vector G ofi；
3) Selecting a satellite Sj with the largest altitude angle from Beidou satellites simultaneously received by the Beidou satellite master-slave antenna as a reference satellite, and calculating the carrier phase double difference value of the Beidou satellites simultaneously received by the Beidou satellite master-slave antenna according to the following formula
Figure BDA0001490419330000021
Figure BDA0001490419330000022
Wherein the content of the first and second substances,
Figure BDA0001490419330000023
as a reference satellite SjJ is a reference satellite number, and i is not equal to j;
4) calculating a unit direction vector from the Beidou main antenna to the Beidou satellite Si and a unit direction vector from the Beidou main antenna to the reference satellite S according to the following formulajDifference value G of unit direction vector ofij：
Gij＝Gi-Gj
Wherein G isjAs a reference satellite SjA unit direction vector of (a);
5) calculating double difference values of carrier phases of Beidou satellite
Figure BDA0001490419330000024
Corresponding integer ambiguity double difference
Figure BDA0001490419330000025
6) The Beidou satellites simultaneously received by the Beidou satellite master-slave antenna are arranged into S according to the altitude angle from high to low1、S2、.....SnN represents the number of Beidou satellites simultaneously received by the master antenna and the slave antenna, n is greater than or equal to 4, S1The reference satellite is a serial number of the Beidou satellite with the largest altitude angle after sequencing;
the baseline vector a is then calculated using the following formula:
A＝λ(MTM)-1MTK
wherein A is a baseline vector under a geographic coordinate system, and lambda is the wavelength of the carrier phase of the Beidou satellite]TRepresenting a matrix arrangement of]-1The inverse of the representation matrix is used,
M＝[G21G31...... Gn1]T，
Figure BDA0001490419330000026
G21、G31..n1From the big Dipper main antenna to the big Dipper satellite SiThe difference of the unit direction vector of (a) and the unit direction vector to the reference satellite S1,
Figure BDA0001490419330000027
Figure BDA0001490419330000028
the carrier phase double difference value of the Beidou satellite calculated in the step 3),
Figure BDA0001490419330000029
Figure BDA00014904193300000210
the Beidou satellite carrier phase double difference value calculated in the step 5)
Figure BDA00014904193300000211
Corresponding integer ambiguity double differences;
7) and calculating the baseline course and the baseline length by using the baseline vector A.
The above calculated course requires the conversion of the quadrants as shown in the table below.
Furthermore, in the method of the present invention, in the step 2), the unit direction vector GiIs calculated according to the following formula:
Figure BDA0001490419330000031
wherein the content of the first and second substances,
Figure BDA0001490419330000032
is a transformation matrix from a geocentric coordinate system to a geographic coordinate system,
Figure BDA0001490419330000033
is the Beidou satellite SiCoordinate vector in the geocentric coordinate System, PaThe coordinate vector of the Beidou satellite main antenna in the geocentric coordinate system is disclosed.
Further, in the method of the present invention, in the step 5), the integer ambiguity double difference value
Figure BDA0001490419330000034
Is calculated according to the following formula:
Figure BDA0001490419330000035
wherein the content of the first and second substances,
Figure BDA0001490419330000036
for a double difference in carrier phase for a full revolution of the baseline, round () represents a rounding function, which is rounded up to the nearest integer in the floating point number.
Further, in the method of the present invention, in the step 3) and the step 6), the unit direction vector G calculated in the step 2) is usediThe altitude angle of each Beidou satellite is determined by comparing the space direction component, and the altitude angle of the satellite is large if the space direction component is large.
Further, in the method of the present invention, in the step 1), the carrier phase of the Beidou satellite is the carrier phase at the same frequency.
Further, in the method of the present invention, in the step 7), the baseline heading and the baseline length are calculated according to the following formula:
Figure BDA0001490419330000037
wherein x, y and z are vector coordinates of the base line vector in the northeast coordinate system, and satisfy (x, y and z)TIs a base line vector A under a northeast geographic coordinate system, H is a base line heading, l is a base line length, the range of the heading is (0,2 pi), and the north east is taken as positive.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) compared with the existing LAMBDA search algorithm, the method for solving the integer ambiguity double difference value in the baseline rotation mode has the advantages of small calculated amount and high speed for determining the course.
(2) The existing double-antenna baseline rotation way for solving the course is to eliminate the ambiguity of the whole cycle by making a difference again at the zero-degree position of the baseline vector and the 180-degree position of the baseline vector on the basis of the carrier phase double difference, and then to solve the baseline vector for determining the course, the method can only calculate the course in one direction per rotation period, and the method has poor real-time performance and dynamic performance; the method solves the double difference of the ambiguity of the whole cycle by adopting a mode of rotating the base line by a whole cycle, and under the condition that the satellite signal does not generate cycle slip, the obtained double difference of the ambiguity of the whole cycle is effective all the time, the heading can be continuously calculated, and the real-time performance and the dynamic performance are strong.
(3) When the method is applied to the double-antenna short baseline, the positioning and orientation system can be smaller in size and more convenient to use.
(4) Compared with the traditional electronic compass, the method uses the satellite positioning system to calculate the course of the carrier, and has no error accumulation and long stable working time.
(5) The method uses a difference technology, eliminates errors of a troposphere, an ionosphere, a receiver clock error and a satellite clock error, and has high calculation result precision.
Drawings
Fig. 1 is a schematic diagram of a hardware device of a Beidou dual-antenna orientation method.
FIG. 2 is a flow chart of a Beidou dual-antenna rapid orientation work.
FIG. 3 is a graph of the experimentally calculated vector aerial map at a baseline of 30 cm.
Figure 4 baseline 30cm, the experiment resolves the baseline length map.
Detailed Description
The invention is further described with reference to the following examples and the accompanying drawings.
As shown in fig. 1, the Beidou dual-antenna rotating rapid orientation method disclosed by the invention is implemented by hardware devices comprising two Beidou antennas, two receivers, a rotating mechanism and a control resolving unit; the two Beidou antennas are respectively connected with the two receivers; the two receivers are connected with the control resolving unit; the rotating mechanism is connected with the control resolving unit; and the control resolving unit is responsible for calculating the baseline course and controlling the rotating mechanism to move.
In this embodiment, the hardware device is implemented by using one OEM617D board, two GNSS antennas, a rotating direct drive motor and a C6748 DSP. The board card can simultaneously receive data of two GNSS antennas, and the two GNSS antennas are equivalent to two Beidou receivers; the rotating direct drive motor forms a rotating mechanism; the DSP is selected as a control resolving unit and is responsible for controlling the motor and calculating the course. In the device, two GNSS antennas are connected with an OEM617D board card; the OEM617D board card is connected with the C6748DSP through pins; the DSP controls the rotary direct drive motor to move in a serial port instruction mode, and obtains a motor angle value through an encoder interface; the two antennas are arranged on the plane of the motor through a bracket; the board card and the DSP are fixed on the plane of the motor through a metal box; the motor plane is arranged on the motor rotor; the motor stator is arranged in the motor base; power and signals are transmitted through the conductive slip rings.
The Beidou double-antenna rapid orientation method in the embodiment comprises the following steps:
1) calculating carrier phase single difference value of Beidou satellite received by master and slave antennas of Beidou satellite simultaneously
Figure BDA0001490419330000041
Figure BDA0001490419330000042
Wherein the content of the first and second substances,
Figure BDA0001490419330000051
indicating big Dipper satellite main antenna to satellite SiThe carrier phase measurement of (a) is,
Figure BDA0001490419330000052
indicating big dipper satellite from antenna to satellite SiOf the carrier phase measurement, SiIndicating the satellite numbered i.
2) Calculating the distance from the Beidou satellite main antenna to the Beidou satellite S under the geographic coordinate systemiUnit direction vector G ofi：
3) Selecting the satellite S with the largest altitude angle from the Beidou satellites simultaneously received by the Beidou satellite master-slave antennajAs a reference satellite, calculating the carrier phase double difference value of the Beidou satellite received by the master antenna and the slave antenna of the Beidou satellite at the same time
Figure BDA0001490419330000053
Figure BDA0001490419330000054
Wherein the content of the first and second substances,
Figure BDA0001490419330000055
as a reference satellite SjJ is the reference satellite number, and i ≠ j.
4) Calculate big dipper main antenna to big dipper satellite SiAnd the unit direction vector of the reference satellite SjDifference value G of unit direction vector ofij：
Gij＝Gi-Gj
Wherein G isjAs a reference satellite SjThe unit direction vector of (2).
5) Beidou satellite carrier phase whole-cycle ambiguity double-difference value for calculating base line rotation by one whole circle
Figure BDA0001490419330000056
6) Suppose a big DipperBeidou satellites simultaneously received by satellite master-slave antennas are arranged into S according to the height angle from high to low1、S2、.....SnN represents the number of Beidou satellites simultaneously received by the master antenna and the slave antenna, n is greater than or equal to 4, S1For reference satellites, namely numbers of Beidou satellites with the largest altitude angles after sequencing, a baseline vector A is calculated by using the following formula:
A＝λ(MTM)-1MTK
wherein A is a baseline vector under a geographic coordinate system, and lambda is the wavelength of the carrier phase of the Beidou satellite]TRepresenting a matrix arrangement of]-1The inverse of the representation matrix is used,
M＝[G21G31...... Gn1]T，
Figure BDA0001490419330000057
G21、G31..n1From the big Dipper main antenna to the big Dipper satellite SiThe difference of the unit direction vector of (a) and the unit direction vector to the reference satellite S1,
Figure BDA0001490419330000058
Figure BDA0001490419330000059
the Beidou satellite carrier phase double difference value obtained by the calculation in the step 3),
Figure BDA00014904193300000510
Figure BDA00014904193300000511
the Beidou satellite carrier phase double difference value obtained by calculation in the step 5)
Figure BDA00014904193300000512
Corresponding integer ambiguity double differences.
7) Calculating the course and the length of the base line according to the base line vector A calculated in the step 6).
In a preferred embodiment of the invention, step 2) is carried out according to the followingFormula is calculated big dipper satellite main antenna under geographical coordinate system and is arrived big dipper satellite SiUnit direction vector G ofi：
Figure BDA0001490419330000061
Wherein the content of the first and second substances,
Figure BDA0001490419330000062
is a transformation matrix from a geocentric coordinate system to a geographic coordinate system,
Figure BDA0001490419330000063
where λ is the local longitude, φ is the local latitude,
Figure BDA0001490419330000064
is the Beidou satellite SiCoordinate vector in the geocentric coordinate System, PaThe coordinate vector of the Beidou satellite main antenna in the geocentric coordinate system is disclosed. As described above
Figure BDA0001490419330000065
Is obtained by calculating satellite ephemeris message of a receiver; p is aboveaThe method comprises the following steps of obtaining through longitude and latitude high position message conversion:
Figure BDA0001490419330000066
Figure BDA0001490419330000067
wherein R iseIs the major axis of the earth, f is the earth's deviation ratio, RNRepresents the radius of the unit circle of Mao (B)a，La，ha)TRepresents the longitude and latitude height of the main antenna message output, (x)a，ya，za)TAnd converting the representation into main antenna coordinates in a geocentric coordinate system, and then obtaining a transfer matrix from the geocentric coordinate system to a northeast geographic coordinate system.
In a preferred embodiment of the present invention, in step 5), the whole-cycle ambiguityDouble difference value
Figure BDA0001490419330000068
Is calculated according to the following formula:
Figure BDA0001490419330000069
where round () represents the rounding function, which is rounded up by rounding, i.e., the nearest integer to the floating point number.
In the preferred scheme of the invention, in the step 7), the course and the base length of the base line are calculated by using the following formulas:
Figure BDA00014904193300000610
wherein x, y, z are the vector coordinates of the baseline vector in the northeast coordinate system, i.e., (x, y, z)TIs a base line vector A under a northeast geographic coordinate system, H is a base line heading, l is a base line length, the range of the heading is (0,2 pi), and the north east is taken as positive.
In a preferred embodiment of the invention, the heading calculated above requires a conversion of the quadrants as shown in the following table:
Figure BDA0001490419330000071
and (3) adopting a baseline error threshold value which is twice of the actual baseline error, and if the continuously calculated baseline error exceeds the threshold value, considering that the integer ambiguity double difference value calculated in the step 5) is invalid, and calculating the course at this time to be invalid.
A specific workflow diagram of this implementation is shown in fig. 2. The length of the base line adopted in the implementation is 0.3m, the calculated or obtained heading is shown in fig. 3, and the length of the base line is shown in fig. 4.
The above examples are only preferred embodiments of the present invention, it should be noted that: it will be apparent to those skilled in the art that various modifications and equivalents can be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents fall within the scope of the invention as defined in the claims.

Claims (5)

1. A big Dipper double-antenna rotation rapid orientation method is characterized by comprising the following steps:
1) calculating the carrier phase single difference value of the Beidou satellite simultaneously received by the master antenna and the slave antenna of the Beidou satellite according to the following formula
Figure FDA0002595755940000011
Figure FDA0002595755940000012
Wherein the content of the first and second substances,
Figure FDA0002595755940000013
indicating the big Dipper satellite main antenna to the big Dipper satellite SiThe carrier phase measurement of (a) is,
Figure FDA0002595755940000014
indicating the big Dipper satellite from the antenna to the big Dipper satellite SiOf the carrier phase measurement, SiThe Beidou satellite with the number i is represented, and i is the number of the Beidou satellite simultaneously received by the Beidou satellite master-slave antenna;
2) calculating the distance from the Beidou satellite main antenna to the Beidou satellite S under the geographic coordinate systemiUnit direction vector G ofi；
3) Selecting the satellite S with the largest altitude angle from the Beidou satellites simultaneously received by the Beidou satellite master-slave antennajAs a reference satellite, calculating the carrier phase double difference value of the Beidou satellite simultaneously received by the master antenna and the slave antenna of the Beidou satellite according to the following formula
Figure FDA0002595755940000015
Figure FDA0002595755940000016
Wherein the content of the first and second substances,
Figure FDA0002595755940000017
reference satellite S for simultaneous reception of master and slave antennas of Beidou satellitejJ is a reference satellite number, and i is not equal to j;
4) calculating the Beidou satellite main antenna to the Beidou satellite S according to the following formulaiAnd the unit direction vector of the reference satellite SjDifference value G of unit direction vector ofij：
Gij＝Gi-Gj
Wherein G isjFrom the main antenna of the Beidou satellite to the reference satellite SjA unit direction vector of (a);
5) calculating the carrier phase double difference value according to the following formula
Figure FDA0002595755940000018
Corresponding integer ambiguity double difference
Figure FDA0002595755940000019
Figure FDA00025957559400000110
Wherein the content of the first and second substances,
Figure FDA00025957559400000111
for a double difference of carrier phase in one full turn of the baseline rotation, round () represents a rounding function, and the rounding mode is rounding, namely, the nearest integer of the floating point number is obtained;
6) the Beidou satellites simultaneously received by the Beidou satellite master-slave antenna are arranged into S according to the altitude angle from high to low1、S2、.....SnN represents the number of Beidou satellites simultaneously received by the master antenna and the slave antenna, n is greater than or equal to 4, S1The reference satellite is a serial number of the Beidou satellite with the largest altitude angle after sequencing;
the baseline vector a is then calculated using the following formula:
A＝λ(MTM)-1MTK
wherein A is a baseline vector under a geographic coordinate system, and lambda is the wavelength of the carrier phase of the Beidou satellite]TRepresenting a matrix arrangement of]-1The inverse of the representation matrix is used,
M＝[G21G31...... Gn1]T，
Figure FDA0002595755940000021
G21、G31… … and Gn1Is composed of
Big dipper satellite main antenna to big dipper satellite SiAnd the unit direction vector of the reference satellite S1The difference value of the unit direction vector of (a),
Figure FDA0002595755940000022
the carrier phase double difference value calculated in the step 3),
Figure FDA0002595755940000023
Figure FDA0002595755940000024
the carrier phase double difference value calculated in the step 5)
Figure FDA0002595755940000025
Corresponding integer ambiguity double differences;
7) and calculating the baseline course and the baseline length by using the baseline vector A.
2. The Beidou dual-antenna rotary rapid orientation method according to claim 1, characterized in that in the step 2), a unit direction vector GiIs calculated according to the following formula:
Figure FDA0002595755940000026
wherein the content of the first and second substances,
Figure FDA0002595755940000027
is a transformation matrix from a geocentric coordinate system to a geographic coordinate system,
Figure FDA0002595755940000028
is the Beidou satellite SiCoordinate vector in the geocentric coordinate System, PaThe coordinate vector of the Beidou satellite main antenna in the geocentric coordinate system is disclosed.
3. The Beidou dual-antenna rotary quick orientation method according to claim 1 or 2, characterized in that in the step 3) and the step 6), the unit direction vector G calculated in the step 2) is utilizediThe altitude angles of the Beidou satellites are compared and determined according to the space direction components.
4. The Beidou dual-antenna rotary rapid orientation method according to claim 1 or 2, characterized in that in the step 1), the Beidou satellite carrier phase is the carrier phase at the same frequency.
5. The Beidou dual-antenna rotary fast orientation method according to claim 1 or 2, characterized in that in the step 7), the baseline heading and the baseline length are calculated according to the following formula:
Figure FDA0002595755940000031
wherein x, y, z are the vector coordinates of the baseline vector in the northeast geographic coordinate system, i.e., (x, y, z)TIs a base line vector A under a northeast geographic coordinate system, H is a base line heading, l is a base line length, the range of the heading is (0,2 pi), and the north east is taken as positive.
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