CN110426724A - A kind of GNSS multipath error elimination method for determining posture based on rotating platform - Google Patents

A kind of GNSS multipath error elimination method for determining posture based on rotating platform Download PDF

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Publication number
CN110426724A
CN110426724A CN201910716044.7A CN201910716044A CN110426724A CN 110426724 A CN110426724 A CN 110426724A CN 201910716044 A CN201910716044 A CN 201910716044A CN 110426724 A CN110426724 A CN 110426724A
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China
Prior art keywords
moment
gnss
double difference
baseline
posture
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CN201910716044.7A
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陈培
林俊
贾振俊
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Beihang University
Beijing University of Aeronautics and Astronautics
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Beijing University of Aeronautics and Astronautics
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Priority to CN201910716044.7A priority Critical patent/CN110426724A/en
Publication of CN110426724A publication Critical patent/CN110426724A/en
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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
    • G01S19/13—Receivers
    • G01S19/22—Multipath-related issues
    • 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

Abstract

A kind of GNSS multipath error elimination method for determining posture based on rotating platform.Its step are as follows: one, driving turntable rotation；Two, t is found1、t1Moment；Three, t is constructed1、t1Interspace-border double difference model of standing；Four, Baselines；Five, posture determines.Pass through above step, propose a kind of GNSS multipath error elimination method for determining posture based on rotating platform, this method is rotated by motor driven platform, utilize the identical feature of symmetrical baseline multipath error, choose the data at two observation moment of corner difference 180 degree (or 180 degree odd-multiple), the baseline after eliminating Multipath Errors is solved, and then carries out attitude algorithm.This method makes full use of the characteristic of rotating platform, in addition to it can eliminate multipath error, moreover it is possible to avoid the problems such as ambiguity resolution, cycle slips detection and reparation, realize that high-precision posture determines.

Description

A kind of GNSS multipath error elimination method for determining posture based on rotating platform
Technical field
The present invention provides a kind of GNSS multipath error elimination method for determining posture based on rotating platform, it is related to a kind of for rotation The GNSS method for determining posture for turning the elimination Multipath Errors of platform, belongs to navigation and determines appearance technical field.
Background technique
Global Navigation Satellite System (GNSS, Global Navigation Satellite System) refers to all Satellite system with navigation locating function.GNSS mainly includes global positioning system (GPS, the Global in the U.S. at present Positioning System), Russia Global Navigation Satellite System (GLONASS, Global Navigation Satellite System), China Beidou satellite navigation system and Europe Galileo (Galileo) satellite navigation and positioning system System, further comprises corresponding enhancing system.
Meanwhile the various applications based on GNSS also increasingly embody its advantageous advantage.For posture determines, Real-time, accurate, continuous, stable posture information is for all kinds of motion carriers (including satellite, guided missile, aircraft, naval vessel, vapour at present Vehicle etc.) complete automatic navigation control and intelligent task planning for be most important and essential.Traditional attitude of carrier Measurement generally relies on the mode that gyroscope adds other sensors (star sensor, sun sensor, magnetometer etc.), and the latter is for mending Gyroscopic drift is repaid and corrects, to guarantee the steady output of the perseverance of posture.In recent years, it is true to propose gyro free posture by domestic and foreign scholars Fixed concept: on the one hand, for the spacecraft of in-orbit flight, being likely to occur failure and even fail after gyro longtime running, such as Gyro mistake had occurred in U.S.'s " Hubble " and European Space Agency's " European Remote Sensing Satellite 2 " at 1999 and 2000 respectively Effect problem；On the other hand, for inexpensive small container (micro-nano satellite, shell, small drone etc.), laser gyro, optical fiber The high accuracy gyroscopes such as gyro instrument is difficult to apply due to being limited by factors such as power consumption, volume, prices, and low cost is micro electronmechanical Gyro is unable to satisfy the demand of high-precision navigation again.It is determined in scheme in many gyro free postures, appearance skill is determined based on GNSS Art has been widely used in the every field of military and national defense and national economy due to its low cost, high-precision, the advantages such as zero shift.
Multipath error is one of the main error source encountered in receiver measurement process.The signal of navigation satellite transmitting can quilt Object reflection, can equally be received machine after the signal of reflection is superimposed with direct signal and receive.By superimposed signal Amplitude and phase can change, and antenna phase center when will lead to measurement in this way changes, so that measurement error is generated, And the influence to pseudorange is maximum, in some instances it may even be possible to reach 10m.In general, the elevation angle of navigation satellite is higher, multipath noise is just Fewer, the delay of multipath signal is also shorter.Multipath noise not only results in measurement result and generates large error, or even also will cause The losing lock of satellite-signal, i.e. loss satellite.Multipath error is difficult to eliminate by modeling or by other physical methods, and multipath misses The elimination of difference is always GNSS positioning, the key points and difficulties for determining appearance technology.
Summary of the invention
(1) goal of the invention
The present invention can accurately obtain the characteristic of rotational angular velocity using rotating platform, right according in GNSS double difference model The feature for claiming baseline multipath error identical proposes a kind of method of elimination Multipath Errors based on rotating platform.This method The characteristic for making full use of rotating platform is avoided that the problems such as ambiguity resolution, cycle slips detection and reparation, realizes high-precision posture It determines.
(2) technical solution
The present invention relates to a kind of, and the GNSS multipath error based on rotating platform eliminates method for determining posture, and this method needs a rotation Turn platform, composition includes: single-chip microcontroller 1, SD card slot 2, remote signal receiver 3, stepper motor driver 4, GNSS receiver 5, antenna 6, T-type frame 7, turntable 8, remote controler 9.Referring to attached drawing 1.The rotating platform drives turntable rotation by stepper motor, Upper carrying GNSS receiver records turntable corner in the measurement of each GNSS receiver, then records GNSS measurement data.This Experiment porch patent applied for " a kind of GPS determine appearance experiment porch ".
The present invention needs to install 3 antennas on the rotating platform, forms 2 not conllinear baselines.Motor driven platform rotation Turn, receiver receives measurement data from antenna, and single-chip microcontroller records turntable corner when each GNSS receiver measures.Then lead to It crosses GNSS measurement data and the posture of rotating platform is calculated in corner.
It is as follows that GNSS multipath error of the present invention based on rotating platform eliminates method for determining posture implementation steps:
Step 1: driving turntable rotation
It is rotated by motor driven turntable, receiver receives measurement data from antenna, and single-chip microcontroller is in each GNSS receiver Turntable corner is recorded when measurement.
Step 2: t is found1、t2Moment
After turntable starts turning, appoints and take a moment as t1, corner is denoted as θ at this time1, find corner and t1Moment corner phase As t at the time of poor 180 degree (or 180 degree odd-multiple)2, t2Moment corner is denoted as θ2。t1、t2Moment baseline is symmetrical, multichannel Diameter error is identical.
θ2=θ1+ (2k+1) π, k=0,1,2,3...... (1)
Step 3: building t1、t2Interspace-border double difference the model of standing at moment
3 receivers are as follows to station border-interspace double difference observation lienarized equation of the carrier observations amount of n+1 GNSS satellite It is shown:
In formula (2), y is the rank matrix of n × 2 of the carrier wave double difference composition of 2 basic lineal vectors, and each column vector indicates The corresponding n double difference of one baseline；λ is carrier wavelength；A is the rank matrix of n × 2 of double difference integer ambiguity composition, often One column vector indicates the corresponding n double difference integer ambiguity of a baseline；B be double difference unit from satellite to receiver direction to The rank of n × 3 matrix in the expression composition under GNSS reference frame is measured (due to, apart from very little, and defending between each secondary receiver Star is far apart from each receiver, so here it is considered that the unit vector in the same satellite to any one receiver direction is identical)； B is 3 × 2 rank matrixes of coordinate value composition of 2 unknown basic lineal vectors under GNSS reference frame；F (B) is multipath mistake Difference, it is related with B；ε is the rank matrix of n × 2 of observation noise composition；Therefore, t1Interspace-border double difference model of standing of moment linearisation Are as follows:
y1=λ a1+B1b1+f(B1)+ε1 (3)
t2There is b at moment1=-b2, interspace-border double difference model of standing at this time are as follows:
y2=λ a2+B2b2+f(B2)+ε2 (4)
And for short baseline, there is a1=a2=a, B1=B2=B, and enable b1=b2=b, so t1, t2Moment it is interspace-stand Border double difference model are as follows:
y1=λ a+Bb+f (B)+ε1 (5)
y2=λ a-Bb+f (B)+ε2 (6)
Step 4: Baselines
Formula (5), (6) are subtracted each other, ε1、ε2Very little can be ignored, obtain:
y1-y2=2Bb (7)
For matrix B, B is sequency spectrum, BTB is reversible, and baseline matrix b can be solved:
Step 5: posture determines
After solving baseline, posture can be carried out by QUEST algorithm and determined, since QUEST algorithm is existing algorithm, here It does not elaborate；Posture of the platform with respect to reference frame can be obtained by QUEST algorithm.
In conclusion implementation steps process of the invention is as shown in Fig. 2.It is proposed by above-mentioned process a kind of based on rotation The GNSS multipath error for turning platform eliminates method for determining posture, and this method is rotated by motor driven platform, utilizes symmetrical baseline multipath The identical feature of error chooses the data at two observation moment of corner difference 180 degree (or 180 degree odd-multiple), solves elimination Baseline after Multipath Errors, and then carry out attitude algorithm.This method makes full use of the characteristic of rotating platform, except can eliminate multipath Outside error, moreover it is possible to avoid the problems such as ambiguity resolution, cycle slips detection and reparation, realize that high-precision posture determines.
(3) advantage
The advantages of a kind of GNSS multipath error based on rotating platform provided by the invention eliminates method for determining posture is:
1. method proposed by the present invention does not need the auxiliary of Pseudo range measurement, it is perfectly suitable in high pseudo range measurement noise Under the conditions of.
2. method proposed by the present invention can eliminate multipath error, attitude determination accuracy is improved.
3. the method proposed in the present invention is avoided that the problems such as ambiguity resolution, cycle slips detection and reparation, reduce calculation amount
Detailed description of the invention
Fig. 1 is the required rotating platform schematic diagram of the present invention.
Fig. 2 is implementation steps flow chart of the invention.
In Fig. 1,1 single-chip microcontroller, 2SD card slot, 3 remote signal receivers, 4 stepper motor drivers, 5GNSS receiver, 6 days Line, 7T type frame, 8 turntables, 9 remote controlers.
Specific embodiment
Specific implementation process of the invention is described in further detail below in conjunction with technical solution.
The present invention relates to a kind of, and the GNSS multipath error based on rotating platform eliminates method for determining posture, and this method needs a rotation Turn platform.Its composition includes: single-chip microcontroller 1, SD card slot 2, remote signal receiver 3, stepper motor driver 4, GNSS receiver 5, antenna 6, T-type frame 7, turntable 8, remote controler 9.Referring to attached drawing 1.
The present invention needs to install 3 antennas on the rotating platform, forms 2 not conllinear baselines.Motor driven platform rotation Turn, receiver receives measurement data from antenna, and single-chip microcontroller records turntable corner when each GNSS receiver measures.Then lead to It crosses GNSS measurement data and the posture of rotating platform is calculated in corner.
It is as follows that GNSS multipath error of the present invention based on rotating platform eliminates method for determining posture implementation steps:
Step 1: driving turntable rotation
It is rotated by motor driven turntable, receiver receives measurement data from antenna, and single-chip microcontroller is in each GNSS receiver Turntable corner is recorded when measurement.
Step 2: t is found1、t2Moment
After turntable starts turning, appoints and take a moment as t1, corner is denoted as θ at this time1, find corner and t1Moment corner phase As t at the time of poor 180 degree (or 180 degree odd-multiple)2, t2Moment corner is denoted as θ2。t1、t2Moment baseline is symmetrical, multichannel Diameter error is identical.
θ2=θ1+ (2k+1) π, k=0,1,2,3...... (9)
Step 3: building t1、t2Interspace-border double difference model of standing
3 receivers are as follows to station border-interspace double difference observation lienarized equation of the carrier observations amount of n+1 GNSS satellite It is shown:
In formula (10), y is the rank matrix of n × 2 of the carrier wave double difference composition of 2 basic lineal vectors, each column vector table Show the corresponding n double difference of a baseline；λ is carrier wavelength；A is the rank matrix of n × 2 of double difference integer ambiguity composition, Each column vector indicates the corresponding n double difference integer ambiguity of a baseline；B is the double difference unit from satellite to receiver direction Vector the expression composition under GNSS reference frame the rank of n × 3 matrix (due between each secondary receiver apart from very little, and Each receiver of satellite distance is far, so here it is considered that the same satellite to any one receiver direction unit vector phase Together)；B is 3 × 2 rank matrixes of coordinate value composition of 2 unknown basic lineal vectors under GNSS reference frame；F (B) is multipath Error, it is related with B；ε is the rank matrix of n × 2 of observation noise composition；Therefore, t1Interspace-border double difference model of standing of moment linearisation Are as follows:
y1=λ a1+B1b1+f(B1)+ε1 (11)
t2There is b at moment1=-b2, interspace-border double difference model of standing at this time are as follows:
y2=λ a2+B2b2+f(B2)+ε2 (12)
And for short baseline, there is a1=a2=a, B1=B2=B, and enable b1=b2=b, so t1, t2Moment it is interspace-stand Border double difference model are as follows:
y1=λ a+Bb+f (B)+ε1 (13)
y2=λ a-Bb+f (B)+ε2 (14)
Step 4: Baselines
Formula (13), (14) are subtracted each other, ε1、ε2Very little can be ignored, obtain:
y1-y2=2Bb (15)
For matrix B, B is sequency spectrum, BTB is reversible, and baseline matrix b can be solved:
Step 5: posture determines
After solving baseline, posture can be carried out by Quest algorithm and determined, since Quest algorithm is existing algorithm, here It does not elaborate；Posture of the platform with respect to reference frame can be obtained by Quest algorithm.
In conclusion algorithm flow of the invention is as shown in Fig. 2.It is proposed by above-mentioned process a kind of based on rotary flat The GNSS multipath error of platform eliminates method for determining posture, and this method is rotated by motor driven platform, utilizes symmetrical baseline multipath error Identical feature chooses the data at two observation moment of corner difference 180 degree (or 180 degree odd-multiple), solves elimination multichannel Baseline after diameter error, and then carry out attitude algorithm.This method makes full use of the characteristic of rotating platform, except can eliminate multipath error Outside, moreover it is possible to avoid the problems such as ambiguity resolution, cycle slips detection and reparation, realize that high-precision posture determines.

Claims (1)

1. a kind of GNSS multipath error based on rotating platform eliminates method for determining posture, it is characterised in that: its step are as follows:
Step 1: driving turntable rotation
It is rotated by motor driven turntable, receiver receives measurement data from antenna, and single-chip microcontroller is measured in each GNSS receiver When record turntable corner；
Step 2: t is found1、t2Moment
After turntable starts turning, appoints and take a moment as t1, corner is denoted as θ at this time1, find corner and t1Moment corner difference 180 As t at the time of spending (or 180 degree odd-multiple)2, t2Moment corner is denoted as θ2。t1、t2Moment baseline is symmetrical, Multipath Errors It is identical；
θ2=θ1+ (2k+1) π, k=0,1,2,3...... ... ... ... ... ... (1)
Step 3: building t1、t2Interspace-border double difference the model of standing at moment
3 receivers observe the following institute of lienarized equation to station border-interspace double difference of the carrier observations amount of n+1 GNSS satellite Show:
In formula (2), y is the rank matrix of n × 2 of the carrier wave double difference composition of 2 basic lineal vectors, and each column vector indicates one The corresponding n double difference of baseline；λ is carrier wavelength；A is the rank matrix of n × 2 of double difference integer ambiguity composition, Mei Yilie Vector indicates the corresponding n double difference integer ambiguity of a baseline；B is that the double difference unit vector from satellite to receiver direction exists Expression composition under GNSS reference frame the rank of n × 3 matrix (due between each secondary receiver apart from very little, and satellite away from It is far from each receiver, so here it is considered that the unit vector in the same satellite to any one receiver direction is identical)；B is 2 3 × 2 rank matrixes of coordinate value composition of the unknown basic lineal vector of item under GNSS reference frame；F (B) is Multipath Errors, with B It is related；ε is the rank matrix of n × 2 of observation noise composition；
Therefore, t1Interspace-border double difference model of standing of moment linearisation are as follows:
y1=λ a1+B1b1+f(B1)+ε1………………………………(3)
t2There is b at moment1=-b2, interspace-border double difference model of standing at this time are as follows:
y2=λ a2+B2b2+f(B2)+ε2………………………………(4)
And for short baseline, there is a1=a2=a, B1=B2=B, and enable b1=b2=b, so t1, t2Interspace-the border of standing at moment is double Differential mode type are as follows:
y1=λ a+Bb+f (B)+ε1…………………………………(5)
y2=λ a-Bb+f (B)+ε2………………………………(6)
Step 4: Baselines
Formula (5), (6) are subtracted each other, ε1、ε2Very little can be ignored, obtain:
y1-y2=2Bb ... ... ... ... ... ... ... (7)
For matrix B, B is sequency spectrum, BTB is reversible, and baseline matrix b can be solved:
Step 5: posture determines
After solving baseline, posture can be carried out by QUEST algorithm and determined, since QUEST algorithm is existing algorithm, do not done here It is described in detail；Posture of the platform with respect to reference frame can be obtained by QUEST algorithm.
CN201910716044.7A 2019-08-05 2019-08-05 A kind of GNSS multipath error elimination method for determining posture based on rotating platform Pending CN110426724A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112083450A (en) * 2020-09-07 2020-12-15 中山大学 Multipath error suppression method, system and device by using circular motion of antenna
WO2023197714A1 (en) * 2022-04-11 2023-10-19 南京北斗创新应用科技研究院有限公司 Gnss multi-path error reducing method suitable for dynamic carrier platform

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112083450A (en) * 2020-09-07 2020-12-15 中山大学 Multipath error suppression method, system and device by using circular motion of antenna
CN112083450B (en) * 2020-09-07 2023-07-11 中山大学 Multipath error suppression method, system and device utilizing antenna circular motion
WO2023197714A1 (en) * 2022-04-11 2023-10-19 南京北斗创新应用科技研究院有限公司 Gnss multi-path error reducing method suitable for dynamic carrier platform

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