CN111025333B - Installation deviation calibration and correction method based on short baseline attitude determination of navigation satellite signal - Google Patents

Installation deviation calibration and correction method based on short baseline attitude determination of navigation satellite signal Download PDF

Info

Publication number
CN111025333B
CN111025333B CN201911235245.1A CN201911235245A CN111025333B CN 111025333 B CN111025333 B CN 111025333B CN 201911235245 A CN201911235245 A CN 201911235245A CN 111025333 B CN111025333 B CN 111025333B
Authority
CN
China
Prior art keywords
baseline
installation
delta
short baseline
short
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201911235245.1A
Other languages
Chinese (zh)
Other versions
CN111025333A (en
Inventor
陈德明
马丽
张墨
王婷婷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
UNIT 63620 OF PLA
Original Assignee
UNIT 63620 OF PLA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by UNIT 63620 OF PLA filed Critical UNIT 63620 OF PLA
Priority to CN201911235245.1A priority Critical patent/CN111025333B/en
Publication of CN111025333A publication Critical patent/CN111025333A/en
Application granted granted Critical
Publication of CN111025333B publication Critical patent/CN111025333B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • 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
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention belongs to the technical field of navigation measurement and satellite navigation application, and discloses a method for calibrating and correcting installation deviation based on short-baseline attitude determination of a navigation satellite signal. Firstly, calculating the actual installation direction of the short base line according to the direction installation deviation (delta A, delta E) of the measured short base line; secondly, establishing a measurement short baseline direction vector estimation model based on the navigation satellite signals; then, establishing an estimation model for measuring short baseline installation deviation (delta A, delta E and delta D); then, calibrating and measuring the installation deviation estimated value of the short baseline; finally, the installation deviation of the measured short baseline is corrected. The method has no too high installation precision requirement on the installation direction of the measuring short baseline and the installation length of the measuring short baseline, can accurately calibrate the installation deviation of the measuring short baseline by using the method after the installation is finished, and can accurately correct the target attitude determination measurement data by directly using the calibration result. The problem that no method for calibrating and correcting the installation deviation based on the short baseline attitude determination of the navigation satellite signal exists at present is solved.

Description

Installation deviation calibration and correction method based on short baseline attitude determination of navigation satellite signal
Technical Field
The invention belongs to the technical field of navigation measurement and satellite navigation application, and relates to a method for calibrating and correcting installation deviation based on short baseline attitude determination of a navigation satellite signal.
Background
At present, target attitude measurement methods based on navigation satellite signals in practical application all require measurement baselines with the length of meter level, even more than ten meters level, so that the satellite navigation information attitude determination application is concentrated on large targets at present, and small and micro targets cannot perform target attitude measurement. In order to enable the target attitude measurement method based on the navigation satellite signals to be applied to a tiny target, the problems of short baseline installation deviation calibration and correction need to be solved firstly. For a short baseline which is less than half of the shortest wavelength of a downlink carrier signal of a navigation satellite, the influence of installation deviation of the measurement baseline on attitude determination precision is relatively large, high process level is required for the direction and the length of the measurement baseline on micro size and high precision control and high precision calibration, and the cost consumption is also large. In order to effectively control the technical requirements of the manufacturing and assembling process of the navigation satellite signal short-baseline attitude determination product and effectively control the manufacturing cost, a brand new method for measuring the installation deviation calibration and correction of the short baseline is urgently needed. The method not only can accurately calibrate the direction and the length of the short baseline, but also can accurately correct the target attitude determination measurement data by directly utilizing the calibration result, and meanwhile, the calibration and correction method is particularly required to be simple in implementation process, low in technical requirement and low in consumption cost. Based on the method, the method for directly calibrating and correcting the installation deviation of the short baseline by using the navigation satellite signal is researched, the method not only meets the requirements in various aspects, but also greatly reduces the technical requirements of the manufacturing process of the short baseline attitude determination product based on the navigation satellite signal.
Disclosure of Invention
The invention aims to provide a method for calibrating and correcting installation deviation based on short baseline attitude determination of a navigation satellite signal, which not only can accurately calibrate the installation direction and the length of a measurement short baseline with the length less than half wavelength of a satellite downlink carrier signal, but also can accurately correct target attitude determination measurement data by directly utilizing a calibration result, thereby ensuring high-precision target attitude measurement.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a method for calibrating and correcting installation deviation based on short baseline attitude determination of a navigation satellite signal comprises the following steps:
the method comprises the following steps: calculating the actual installation direction of the short measurement baseline in the geocentric coordinate system according to the deviation (delta A, delta E) between the actual installation direction of the short measurement baseline in the local north-east-west coordinate system and the required installation direction
Figure BDA0002304716530000021
Step two: establishing a measurement short baseline direction vector estimation model based on navigation satellite signals;
establishing a measuring short baseline direction vector in a geocentric coordinate system
Figure BDA0002304716530000022
The estimation model is as follows:
Figure BDA0002304716530000023
in the formula, δ θijThe wave phase difference of the two receivers for navigationijIn order to correspond to the measurement error of the phase difference,
Figure BDA0002304716530000024
step three: establishing an estimation model for measuring short baseline installation deviation (delta A, delta E and delta D);
establishing a sampling instant k (k 1,2, …, N)k) The estimation model for measuring the short baseline installation deviation is as follows:
Figure BDA0002304716530000025
in the formula (I), the compound is shown in the specification,
Figure BDA0002304716530000031
and
Figure BDA0002304716530000032
respectively represent
Figure BDA0002304716530000033
And
Figure BDA0002304716530000034
the value at the kth sampling instant.
Step four: solving the installation deviation estimation model established in the third step by using a least square method to obtain the installation deviation estimation value of the measured short baseline
Figure BDA0002304716530000035
Step five: and correcting the installation deviation of the short measurement baseline.
Further, in the first step, the actual installation direction of the short measurement baseline in the geocentric coordinate system is calculated
Figure BDA0002304716530000036
The formula is as follows:
Figure BDA0002304716530000037
in the formula, TmoIs a transformation matrix from the geocentric coordinate system to the north-heaven coordinate system of the position of the target.
Further, in the fourth step, the estimated installation deviation of the measured short baseline is calculated as follows:
Figure BDA0002304716530000038
further, the fifth step further includes:
5.1 correcting the length deviation delta D of the measured short baseline;
subtracting the length installation deviation estimated value from the measured short baseline length index value
Figure BDA0002304716530000039
As an actual value D for measuring the short baseline length;
5.2 correcting the baseline direction deviation (delta A, delta E);
recording estimates of baseline azimuth and elevation
Figure BDA00023047165300000310
The actual elevation and azimuth angles are (A, E), and the azimuth and elevation angles are estimated
Figure BDA0002304716530000041
The following basic relationship exists between the actual elevation angle and the azimuth angle (A, E):
Figure BDA0002304716530000042
in the formula (I), the compound is shown in the specification,
Figure BDA0002304716530000043
the equation (5) is expanded by matrix multiplication to obtain three equations:
Figure BDA0002304716530000044
because the deviation angles (delta A, delta E) are small, the correction relation between the height angle and the azimuth angle of the measured short baseline can be obtained by taking the first order approximation:
Figure BDA0002304716530000045
the invention has the advantages that:
the invention not only solves the problem that the existing method for calibrating and correcting the installation deviation based on the short baseline attitude determination of the navigation satellite signal is lacked, but also greatly reduces the precision requirements on the measurement of the installation direction and the installation length of the short baseline, and effectively reduces the production cost of the products.
Drawings
FIG. 1 is a flow chart of a method for calibrating and correcting installation deviation based on short baseline attitude determination of a navigation satellite signal.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The installation deviation of the measuring base line mainly comprises two parts, namely, the actual direction of the measuring base line is inconsistent with the required direction; secondly, the distance between two navigation satellite signal receiving antennas forming the measurement baseline is inconsistent with the requirement. The former is expressed by the direction deviation angle and the even pair of high and low deviation angles (delta A, delta E), and the latter is expressed by the distance difference delta D. That is, the installation deviation of each measurement baseline can be expressed by three components (δ a, δ E, δ D).
And recording the length of each measuring base line on the target as D, taking the length not more than half of the shortest wavelength of the navigation satellite navigation electric wave in order to reduce the length of the measuring base line as much as possible, and taking D to be less than or equal to 95mm for the existing global navigation system.
Recording the navigation satellite capable of receiving the navigation signal as Si(i ═ 1,2,3, …, N), and the position coordinates of these navigation satellites in the geocentric coordinate system are Xi＝(xi,yi,zi) The wavelength corresponding to the jth navigation radio wave center frequency of the ith navigation satellite is lambdaij(j＝1,…,Mi)，MiThe total number of the navigation wave center frequencies of the ith navigation satellite is represented, and the position coordinate of the target in the earth center coordinate system is X ═ X, y, z, which can be obtained by directly resolving the positioning information from the navigation signal.
When the installation deviation of the measurement baseline is calibrated, the required installation direction of the measurement baseline is aligned to the true north, namely the accurate value of the required installation direction of the measurement baseline is given.
Referring to fig. 1, the method for calibrating and correcting the installation deviation based on the short baseline attitude determination of the navigation satellite signal provided by the invention comprises the following steps:
the method comprises the following steps: calculating the actual installation direction of the measured short base line;
calculating the actual installation direction of the short measuring baseline in the geocentric coordinate system by using the formula (1) according to the deviation (delta A, delta E) of the actual installation direction of the short measuring baseline in the local north-east-west coordinate system and the required installation direction
Figure BDA0002304716530000051
Figure BDA0002304716530000052
In the formula (I), the compound is shown in the specification,
Figure BDA0002304716530000053
is a transformation matrix from the geocentric coordinate system to the north-celestial coordinate system of the position of the target, and B and L are the geographical latitude and the geographical longitude of the target respectively.
Step two: establishing a measurement short baseline direction vector estimation model based on navigation satellite signals;
according to the basic characteristics of electromagnetic wave transmission, in the geocentric coordinate system, a measuring short baseline direction vector is established
Figure BDA0002304716530000061
The estimation model of (2):
Figure BDA0002304716530000062
in the formula, δ θijThe wave phase difference of the two receivers for navigationijIn order to correspond to the measurement error of the phase difference,
Figure BDA0002304716530000063
step three: establishing an estimation model for measuring short baseline installation deviation (delta A, delta E and delta D);
substituting the formula (1) into the formula (2) to obtain:
Figure BDA0002304716530000064
in the formula (I), the compound is shown in the specification,
Figure BDA0002304716530000065
for the above equation, a set of correspondences is obtained at each sampling time, and the sequence corresponding to the sampling time is denoted as k (k is 1,2, …, N)k) An estimation model for measuring the short baseline installation deviation is established as follows:
Figure BDA0002304716530000066
in the formula (I), the compound is shown in the specification,
Figure BDA0002304716530000071
and
Figure BDA0002304716530000072
respectively represent
Figure BDA0002304716530000073
And
Figure BDA0002304716530000074
the value at the kth sampling instant.
Step four: calibrating and measuring an installation deviation estimated value of the short baseline;
and solving an installation deviation estimation model (3) by using a least square method to obtain an installation deviation estimation value of the measured short baseline:
Figure BDA0002304716530000075
step five: correcting installation deviation of measuring short base line
5.1 correcting the length deviation delta D of the measured short baseline;
the length deviation delta D of the measured short baseline can be directly corrected, and the length of the measured short baseline is subtracted by the length installation deviation estimated value
Figure BDA0002304716530000076
As an actual value D for measuring the short baseline length.
5.2 correction of baseline orientation deviations (δ A, δ E).
Recording the estimated values of azimuth angle and elevation angle of the measurement baseline on the basis of correcting the length deviation of the measurement baseline
Figure BDA0002304716530000077
The actual elevation and azimuth angles are (A, E), and the azimuth and elevation angles are estimated
Figure BDA0002304716530000078
The following basic relationship exists between the actual elevation angle and the azimuth angle (A, E):
Figure BDA0002304716530000079
in the formula (I), the compound is shown in the specification,
Figure BDA00023047165300000710
by developing equation (5) by matrix multiplication, three equations can be obtained:
Figure BDA0002304716530000081
because the deviation angles (delta A, delta E) are small, the correction relation between the height angle and the azimuth angle of the measured short baseline can be obtained by taking the first order approximation:
Figure BDA0002304716530000082
the above embodiments are only for illustrating the invention and are not to be construed as limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, therefore, all equivalent technical solutions also belong to the scope of the invention, and the scope of the invention is defined by the claims.

Claims (4)

1. A method for calibrating and correcting installation deviation based on short baseline attitude determination of a navigation satellite signal is characterized by comprising the following steps:
the method comprises the following steps: calculating the actual installation direction of the short measurement baseline in the geocentric coordinate system according to the deviation (delta A, delta E) between the actual installation direction of the short measurement baseline in the local north-east-west coordinate system and the required installation direction
Figure FDA0003145070470000011
Step two: establishing a measurement short baseline direction vector estimation model based on navigation satellite signals;
establishing a measuring short baseline direction vector in a geocentric coordinate system
Figure FDA0003145070470000012
The estimation model of (2):
Figure FDA0003145070470000013
in the formula, δ θijThe wave phase difference of the two receivers for navigationijIn order to correspond to the measurement error of the phase difference,
Figure FDA0003145070470000014
step three: establishing an estimation model for measuring short baseline installation deviation (delta A, delta E and delta D);
an estimation model for the measured short baseline setup offset at sampling time k is set up as follows, k being 1,2, …, Nk；
Figure FDA0003145070470000015
In the formula (I), the compound is shown in the specification,
Figure FDA0003145070470000016
and
Figure FDA0003145070470000017
respectively represent
Figure FDA0003145070470000018
And
Figure FDA0003145070470000019
the value at the kth sampling moment;
step four: solving the installation deviation estimation model established in the third step by using a least square method to obtain the installation deviation estimation value of the measured short baseline
Figure FDA0003145070470000021
Step five: and correcting the installation deviation of the short measurement baseline.
2. The method for calibrating and correcting the installation deviation based on the short baseline attitude determination of the navigational satellite signals as claimed in claim 1, wherein in the first step, the actual installation direction of the short baseline in the geocentric coordinate system is calculated
Figure FDA0003145070470000022
The formula is as follows:
Figure FDA0003145070470000023
in the formula, TmoIs a transformation matrix from the geocentric coordinate system to the north-heaven coordinate system of the position of the target.
3. The method for calibrating and correcting the installation deviation based on the short baseline attitude determination of the navigational satellite signals as claimed in claim 2, wherein in the fourth step, the calculation formula of the installation deviation estimation of the measured short baseline is as follows:
Figure FDA0003145070470000024
4. the method as claimed in claim 3, wherein the step five further comprises:
5.1 correcting the length deviation delta D of the measured short baseline;
subtracting the length installation deviation estimated value from the measured short baseline length index value
Figure FDA0003145070470000025
As an actual value D for measuring the short baseline length;
5.2 correcting the baseline direction deviation (delta A, delta E);
recording estimates of baseline azimuth and elevation
Figure FDA0003145070470000026
The actual elevation and azimuth angles are (A, E), and the azimuth and elevation angles are estimated
Figure FDA0003145070470000027
The following basic relationship exists between the actual elevation angle and the azimuth angle (A, E):
Figure FDA0003145070470000031
in the formula (I), the compound is shown in the specification,
Figure FDA0003145070470000032
the equation (5) is expanded by matrix multiplication to obtain three equations:
Figure FDA0003145070470000033
because the deviation angles (delta A, delta E) are small, the correction relation between the height angle and the azimuth angle of the measured short baseline can be obtained by taking the first order approximation:
Figure FDA0003145070470000034
CN201911235245.1A 2019-12-05 2019-12-05 Installation deviation calibration and correction method based on short baseline attitude determination of navigation satellite signal Active CN111025333B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911235245.1A CN111025333B (en) 2019-12-05 2019-12-05 Installation deviation calibration and correction method based on short baseline attitude determination of navigation satellite signal

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911235245.1A CN111025333B (en) 2019-12-05 2019-12-05 Installation deviation calibration and correction method based on short baseline attitude determination of navigation satellite signal

Publications (2)

Publication Number Publication Date
CN111025333A CN111025333A (en) 2020-04-17
CN111025333B true CN111025333B (en) 2021-11-16

Family

ID=70207612

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911235245.1A Active CN111025333B (en) 2019-12-05 2019-12-05 Installation deviation calibration and correction method based on short baseline attitude determination of navigation satellite signal

Country Status (1)

Country Link
CN (1) CN111025333B (en)

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6587075B1 (en) * 2001-03-01 2003-07-01 Robert Loh Information management and control system
CN103927442B (en) * 2014-04-15 2017-04-12 哈尔滨工程大学 Ultrashort baseline installation angle error gross error resistance calibration method based on angle measurement transformation
CN104297718B (en) * 2014-09-29 2017-04-12 西安空间无线电技术研究所 Interferometer array integrated correction method
CN205157768U (en) * 2015-11-30 2016-04-13 江苏中海达海洋信息技术有限公司 Ultrashort baseline installation error calibrating device
CN109613520B (en) * 2018-12-14 2022-10-14 东南大学 Ultra-short baseline installation error online calibration method based on filtering

Also Published As

Publication number Publication date
CN111025333A (en) 2020-04-17

Similar Documents

Publication Publication Date Title
CN108490473B (en) GNSS and UWB integrated unmanned aerial vehicle enhanced positioning method and system
CN107817469B (en) Indoor positioning method based on ultra-wideband ranging in non-line-of-sight environment
CN109031359B (en) GNSS receiving antenna absolute phase center correction method based on microwave darkroom
CN104502926A (en) Correction method for absolute antenna phase center of outdoor GNSS (Global Navigation Satellite System) receiver based on precision mechanical arm
CN110220491B (en) Method for estimating installation error angle of optical pod of unmanned aerial vehicle
CN109141427B (en) EKF positioning method based on distance and angle probability model under non-line-of-sight environment
CN110657806B (en) Position resolving method based on CKF, chan resolving and Savitzky-Golay smooth filtering
CN107991676B (en) Troposphere error correction method of satellite-borne single-navigation-pass InSAR system
CN106597498B (en) Space-time deviation joint calibration method for multi-sensor fusion system
CN107402394B (en) Satellite-borne frequency measurement positioning error source on-orbit calibration method and device
CN109975840B (en) Positioning correction method for zero-setting antenna satellite navigation receiver
CN111381112A (en) Phase center far-field calibration method of satellite navigation array antenna
CN113358135A (en) Method for correcting aircraft position by photoelectric measurement data
CN110275139B (en) Ultra-short baseline positioning system and method based on rotary primitive multiplexing
CN114413932B (en) Positioning error correction testing method based on communication between vehicle-mounted platforms
CN112240957B (en) Method for correcting amplitude-phase characteristics of antenna in satellite navigation interference direction finding
CN109254270A (en) A kind of spaceborne X-band interfering synthetic aperture radar calibrating method
CN111025333B (en) Installation deviation calibration and correction method based on short baseline attitude determination of navigation satellite signal
CN111736120B (en) Array error correction method based on sky wave propagation correction source signal
CN113532428A (en) Data processing method and device, communication-in-motion terminal and computer readable storage medium
CN111025358B (en) Orientation method based on single short baseline of navigation satellite signal
CN116699609A (en) High-precision airborne SAR image plane positioning method
JP3172736B2 (en) Geostationary satellite orbit determination method
CN117724035B (en) Interferometer direction finding positioning method based on two-stage correction
CN113466844B (en) Single-station positioning method based on ionospheric reflection

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant