CN112051595A - Backward differential filtering method for solving motion acceleration of carrier by utilizing DGPS (differential global positioning system) position information - Google Patents

Backward differential filtering method for solving motion acceleration of carrier by utilizing DGPS (differential global positioning system) position information Download PDF

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CN112051595A
CN112051595A CN201910483940.3A CN201910483940A CN112051595A CN 112051595 A CN112051595 A CN 112051595A CN 201910483940 A CN201910483940 A CN 201910483940A CN 112051595 A CN112051595 A CN 112051595A
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carrier
filter
acceleration
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position information
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闫方
胡平华
唐江河
赵明
刘东斌
陈晓华
黄鹤
苗成义
曲雪云
邹瑛
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Beijing Automation Control Equipment Institute BACEI
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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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V7/00—Measuring gravitational fields or waves; Gravimetric prospecting or detecting
    • G01V7/02—Details
    • G01V7/06—Analysis or interpretation of gravimetric records
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V7/00—Measuring gravitational fields or waves; Gravimetric prospecting or detecting
    • G01V7/16—Measuring gravitational fields or waves; Gravimetric prospecting or detecting specially adapted for use on moving platforms, e.g. ship, aircraft
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03H—IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS; RESONATORS
    • H03H17/00—Networks using digital techniques
    • H03H17/02—Frequency selective networks
    • H03H17/0202—Two or more dimensional filters; Filters for complex signals

Abstract

The invention discloses a backward difference filtering method for solving the motion acceleration of a carrier by utilizing DGPS position information, which comprises the following steps: (1) introducing DGPS high-precision positioning information; (2) resolving the original vertical acceleration of the carrier by using a second-order backward differentiator; (3) group delay compensation; (4) zero phase digital low pass filtering. The method has the advantages that (1) the second-order backward difference method has the lowest attenuation to the vertical acceleration signal of the carrier. Under the condition that the carrier flies up and down, the motion state of the carrier can be solved more accurately, so that the accuracy of vertical motion acceleration compensation of the carrier is improved, and the gravity anomaly resolving accuracy is improved finally; (2) by adopting a group delay compensation method, time delay caused by a differential calculation process can be compensated, and the phase precision of carrier vertical motion acceleration calculation is improved; (3) and by adopting a zero-phase filtering method, the motion acceleration of the carrier can be strictly matched with the corresponding position, so that the motion acceleration of the carrier can be compensated accurately.

Description

Backward differential filtering method for solving motion acceleration of carrier by utilizing DGPS (differential global positioning system) position information
Technical Field
The invention belongs to a backward difference filtering method, in particular to a method for solving the motion acceleration of a carrier by using DPGS position information, which is particularly suitable for the fields of aviation, marine gravity measurement and the like.
Background
The earth gravity is a resultant force of the gravity of the earth and an inertial force caused by the rotation of the earth, and is one of the basic physical characteristics of the earth. The accurate local earth gravity field information has important significance for natural resource exploration, geological science research, natural disaster monitoring and early warning, earth polar region exploration and high-precision strategic weapon system development and guarantee.
The aviation gravity measurement is a method for acquiring a near-ground or offshore gravity field by taking an aircraft as a carrier and comprehensively using a high-precision gravity sensor, a high-precision attitude stabilization system and a high-precision positioning system. According to the basic principle of gravity measurement, deducting the vertical motion acceleration of a carrier from the specific force output of a gravity sensor is a key technology of gravity measurement.
At present, the calculation method for the vertical motion acceleration of the carrier mainly comprises a center difference method and an estimation method based on Kalman filtering.
A patent named as an aeronautical gravity measurement GPS post-processing method (application number is 201510805377.9) discloses a method for calculating the vertical acceleration of a carrier. Compared with a backward difference method, the central difference method has larger attenuation to the motion acceleration signals of the carrier in the low frequency band, and reduces the precision of the vertical motion acceleration compensation of the carrier; furthermore, the patent does not consider phase compensation during the vertical acceleration filtering, i.e. no zero phase filtering operation is performed.
Disclosure of Invention
The invention aims to provide a backward difference filtering method for solving the motion acceleration of a carrier by utilizing DGPS position information, and the vertical acceleration information of the carrier, which accurately corresponds to the position of the carrier, is obtained by adopting a second-order backward difference filtering method. Particularly, when the carrier has fluctuation maneuver in the measurement process, the calculation precision and the compensation precision of the vertical motion acceleration of the carrier are improved, and the technical requirement of high-precision aviation gravity measurement is finally met.
The invention is realized in this way, the backward difference filtering method for solving the motion acceleration of the carrier by using the DGPS position information comprises the following steps:
(1) introducing DGPS high-precision positioning information;
(2) resolving the original vertical acceleration of the carrier by using a second-order backward differentiator;
(3) group delay compensation;
(4) zero phase digital low pass filtering.
The step (1) is to import the DGPS position information during flight measurement operation, specifically including longitude, latitude and altitude information, or corresponding position information in other coordinate systems, and store the data in a specified directory.
The step (2) is a second-order backward difference calculation, the height information in the high-precision position information is input into a second-order backward difference device, the original vertical acceleration information of the carrier is obtained through calculation, the design process of the second-order backward difference device is given below,
the frequency response of an ideal second order differentiator is:
Hd(ejω)＝j2ω2 (1)
from the formula, the amplitude-frequency response of the ideal second-order differentiator is increased twice from 0 to pi, the phase-frequency characteristic is that the phase advances by 180 degrees for all frequencies, the high-precision height sequence obtained by DGPS is recorded as h (n), the vertical velocity sequence obtained by first-order backward differentiation is recorded as v (n), and the following can be written as:
Figure BDA0002084739210000021
the first order backward difference is further performed on the above result, and the obtained vertical acceleration is recorded as a (n), which can be expressed as:
Figure BDA0002084739210000022
and (3) carrying out Z change on the formula to obtain the frequency response characteristic of the second-order backward difference:
Figure BDA0002084739210000031
wherein Z in the vertical acceleration sequence a (n) is converted into A (Z), and Z in the height sequence h (n) is converted into H (Z).
The step (3) is a step of calculating the time delay caused by the second-order backward difference filter according to the definition of the group delay and compensating the time delay, and the formula (5) is the group delay TGroupThe calculation formula of (2):
TGroup＝-dθ/dω (5)
and performing digital shift operation on the sequence obtained by the second-order backward differentiator according to the calculated group delay time to realize group delay compensation.
The step (4) adopts a Hanning window function design method to provide a FIR filter design process, which can be divided into the following four steps:
1) determining a target filter frequency response function Hdl(ejω)
What needs to be designed in this link is a low-pass filter, whose frequency response function is:
Figure BDA0002084739210000032
wherein wcIs the cut-off frequency of the low-pass filter and τ is the group delay of the filter.
2) Obtaining a sampling response function hdl (n) of the target filter
Performing inverse Fourier transform on the designed low-pass filter to obtain an impulse response function hdl (n)
Figure BDA0002084739210000033
Wherein N is the order of the filter. IDTFT represents an inverse fourier transform operation;
3) designing Hanning window function
The time domain expression of the Hanning window function is as follows:
Figure BDA0002084739210000041
the main lobe width of the Hanning window is 8 pi/N, the cut-off frequency of the low-pass filter is set as the main lobe width of the window function, and then the cut-off frequency w is determined according to the determined cut-off frequencycThe order N of the filter can be calculated;
4) determining unit sample response of designed FIR filter
h(n)＝hdl(n)wHann(n)
The step (4) adopts a Forward-Backward zero-phase filter, and the implementation method comprises the following steps: firstly, an input signal x (n) passes through a filter in a forward sequence, namely, a convolution operation is carried out on the input signal x (n) and a digital filter impulse response sequence h (n):
u(n)＝x(n)*h(n) (10)
time reversal of the result u (n) obtained to v (n):
v(n)＝u(N-1-n) (11)
the sequence w (n) is obtained again by the filter:
w(n)＝v(n)*h(n) (12)
finally, the sequence is time-reversed again, and an accurate zero-phase result y (n) is obtained:
y(n)＝w(N-1-n) (13)
the method has the advantages that (1) the second-order backward difference method has the lowest attenuation to the carrier vertical acceleration signal. Under the condition that the carrier flies up and down, the motion state of the carrier can be solved more accurately, so that the accuracy of vertical motion acceleration compensation of the carrier is improved, and the gravity anomaly resolving accuracy is improved finally; (2) by adopting a group delay compensation method, time delay caused by a differential calculation process can be compensated, and the phase precision of carrier vertical motion acceleration calculation is improved; (3) by adopting a zero-phase filtering method, the motion acceleration of the carrier can be strictly matched with the corresponding position, so that the motion acceleration of the carrier can be compensated accurately;
drawings
FIG. 1 is a flow chart of a backward difference filtering method for acceleration of carrier motion;
FIG. 2 is an amplitude-frequency response diagram of a second-order backward differentiator, an ideal second-order differentiator and a second-order center differentiator;
FIG. 3 is a phase frequency response diagram of a second order backward differentiator, an ideal second order differentiator and a second order center differentiator;
FIG. 4 is a flow chart of zero phase filtering;
FIG. 5 is a plot of fly height;
FIG. 6 is a comparison graph of the results of line-measuring gravity anomaly calculation;
FIG. 7 is a diagram of the difference in solution accuracy between a second order back differentiator and a second order center differentiator.
Detailed Description
The invention is described in detail below with reference to the following figures and specific embodiments:
the flow chart of the backward difference filtering method of the carrier motion acceleration is shown in figure 1, and comprises the steps of introducing DGPS (differential satellite positioning system) high-precision positioning data information, calculating the original vertical acceleration of a carrier by second-order backward difference, compensating group delay, designing a zero-phase digital low-pass filter and filtering.
The calculation process of the vertical motion acceleration of the carrier sequentially comprises the following steps: calculating to obtain high-precision positioning information of the carrier, calculating the original vertical acceleration of the carrier by adopting a second-order backward difference method, performing group delay compensation, designing a zero-phase filter and filtering.
The method comprises the following steps: the DGPS system in an airborne gravity measurement system consists of a mobile station mounted on a carrier and a base station fixed to the ground. In the whole aviation gravity measurement process, the mobile station and the base station work simultaneously; after the measurement is finished, the high-precision positioning information of the carrier can be obtained.
Step two: and inputting elevation information in the high-precision positioning information into a second-order backward differentiator to obtain the original vertical acceleration of the carrier.
Step three: and calculating the time delay generated by the second-order differentiator for the input elevation information according to the phase-frequency response characteristic of the backward differentiator and the digital filter group delay principle, and performing digital shift compensation.
Step four: and designing a zero-phase digital low-pass filter which accords with the gravity abnormal frequency property by combining the flight condition and the measurement area characteristic of gravity measurement, and filtering the original vertical acceleration of the carrier after compensating the group delay.
The backward difference filtering method for solving the motion acceleration of the carrier by utilizing the DGPS position information comprises the following steps:
(1) importing DGPS high-precision positioning information
And importing the DGPS position information during flight measurement operation, specifically comprising longitude, latitude and altitude information or corresponding position information in other coordinate systems, and storing the data in a specified directory.
(2) Resolving the original vertical acceleration of the carrier by using a second-order backward differentiator
The second-order backward difference calculation inputs the height information in the high-precision position information into a second-order backward difference device, calculates to obtain the original vertical acceleration information of the carrier, gives the design process of the second-order backward difference device,
the frequency response of an ideal second order differentiator is:
Hd(ejω)＝j2ω2 (1)
according to the formula, the amplitude-frequency response of the ideal second-order differentiator is increased in two times from 0 to pi, and the phase-frequency characteristic is that the phase leads by 180 degrees for all frequencies. The digital difference filter is designed to approximate the frequency response characteristic of the ideal differentiator as closely as possible. A time domain representation of the backward difference filter is given below.
The high-precision height sequence obtained by the DGPS calculation is recorded as h (n), the vertical velocity sequence obtained by the first-order backward difference is recorded as v (n), and the sequences can be written as follows:
Figure BDA0002084739210000061
the first order backward difference is further performed on the above result, and the obtained vertical acceleration is recorded as a (n), which can be expressed as:
Figure BDA0002084739210000062
and (3) carrying out Z change on the formula to obtain the frequency response characteristic of the second-order backward difference:
Figure BDA0002084739210000063
wherein Z in the vertical acceleration sequence a (n) is converted into A (Z), and Z in the height sequence h (n) is converted into H (Z).
In order to further explain the improvement of the second-order backward differentiator on the resolving precision of the vertical motion acceleration of the carrier, the invention simultaneously provides an amplitude-frequency response curve and a phase-frequency response curve of the traditional second-order central differentiator and an ideal differentiator, which are respectively shown in fig. 2 and fig. 3. As can be seen from the curves, the amplitude-frequency characteristic of the second-order backward differentiator is closer to that of the ideal second-order differentiator than that of the second-order central differentiator.
(3) Group delay compensation
The group delay compensation is a step of calculating the time delay caused by the second-order backward difference filter according to the definition of the group delay and compensating. Formula (5) is group delay TGroupThe calculation formula of (2):
TGroup＝-dθ/dω (5)
where θ and ω are the phase and frequency, respectively, in the phase-frequency response.
And according to the calculated group delay time, performing digital shift operation on the sequence obtained by the second-order backward differentiator to realize group delay compensation.
(4) Zero phase digital low pass filtering
In aviation gravity measurement, gravity abnormal signals have low-frequency characteristics, so that compensation of motion acceleration of a carrier mainly aims at low-frequency-band signals. The invention designs a zero-phase digital low-pass filter and filters the signals after group delay compensation.
Data processing with a conventional FIR low-pass filter causes a phase delay, resulting in a shift in the output signal in time with respect to the input signal. The vertical motion acceleration is filtered, so that the obtained result deviates from the real geographic position and is asynchronous with the data output by the gravity sensor, and the accuracy of vertical acceleration compensation is influenced. Therefore, zero-phase filtering is required to be adopted for processing in the process of designing the low-pass filter.
Firstly, the highest frequency of gravity anomaly in a measuring area is determined as the cut-off frequency of a digital low-pass filter by combining the flight speed of a carrier and related data in the gravity measuring operation process. The FIR digital low-pass filter or other linear low-pass filters are designed based on the above. The specific design method can be a window function method, a frequency sampling method and an equiripple method, and the specific design method can be selected according to different application occasions.
The invention provides the design process of the FIR filter by adopting a Hanning window function design method.
The method can be divided into the following four steps:
1. determining a target filter frequency response function Hdl(ejω)
The invention needs to design a low-pass filter at this link, and the frequency response function of the low-pass filter is as follows:
Figure BDA0002084739210000071
wherein wcIs the cut-off frequency of the low-pass filter and τ is the group delay of the filter.
2. Obtaining a sampling response function hdl (n) of the target filter
Performing inverse Fourier transform on the designed low-pass filter to obtain an impulse response function hdl (n)
Figure BDA0002084739210000081
Wherein N is the order of the filter. IDTFT represents an inverse fourier transform operation.
3. Designing Hanning window function
The time domain expression of the Hanning window function is as follows:
Figure BDA0002084739210000082
the main lobe width of the Hanning window is 8 pi/N, the cut-off frequency of the low-pass filter is generally set to be the same as the main lobe width of the window function, and then the cut-off frequency w is determined according to the determined cut-off frequencycThe filter order N can be calculated.
4. Determining unit sample response of designed FIR filter
h(n)＝hdl(n)wHann(n) (9) the invention adopts a Forward-Backward zero-phase filter, and the realization method comprises the following steps: firstly, an input signal x (n) passes through a filter in a forward sequence, namely, a convolution operation is carried out on the input signal x (n) and a digital filter impulse response sequence h (n):
u(n)＝x(n)*h(n) (10)
time reversal of the result u (n) obtained to v (n):
v(n)＝u(N-1-n) (11)
the sequence w (n) is obtained again by the filter:
w(n)＝v(n)*h(n) (12)
finally, the sequence is time-reversed again, and an accurate zero-phase result y (n) is obtained:
y(n)＝w(N-1-n) (13)
the operation flow is shown in fig. 4.
Example of computing
To further illustrate the improvement of the accuracy of the vertical acceleration of the resolved carrier by the second-order backward differentiator compared with the second-order center differentiator, a calculation example is given below. The calculation example data is from a certain aviation gravimetry test. The test used a Cessna208b fixed wing aircraft equipped with an autopilot, with a line height of approximately 600m and a horizontal flying speed of approximately 60 m/s. The aircraft makes five flights along the east-west direction on the same measuring line, wherein the four flights are smooth flight, and the fifth flight is fluctuated flight in the vertical direction. The height profile of the undulating flight is shown in figure 5.
Because the true value of the carrier motion acceleration can not be provided as the reference, the invention provides the following method for evaluating the carrier motion acceleration calculation precision.
Firstly, according to a general method of gravity anomaly calculation, a measurement result of the gravity anomaly in the first four stable flight states is obtained, the arithmetic mean is carried out on the four results, the obtained result is used as a reference value of the gravity anomaly of the measuring line, and the result is shown in fig. 6. And then, for the fifth heave measurement result, calculating the vertical acceleration of the carrier according to a second-order backward difference method and a second-order center difference method respectively, compensating, keeping other operation links consistent in the process of resolving the gravity anomaly, and finally obtaining two gravity anomaly curves which are also drawn in fig. 6.
As can be seen from fig. 6, the rolling flight of the aircraft introduces a certain error into the measurement results. But the calculation result using the second order backward difference method is closer to the reference value. This shows that the vertical acceleration of the carrier obtained by solving the second-order backward differentiator has a better compensation effect on the gravity sensor, thereby showing that the second-order backward differentiation method has higher precision.
In order to quantitatively explain the accuracy improvement effect of the second-order backward difference method, the gravity anomaly result obtained by the two methods is subjected to subtraction, and is drawn in the same graph with the flight height curve, as shown in fig. 7. It can be seen from fig. 6 and 7 that the maximum precision can be improved by 0.2mGal by using the second-order backward difference method to obtain the fluctuation measurement result compared with the result obtained by the central difference method.

Claims (6)

1. The backward difference filtering method for solving the motion acceleration of the carrier by utilizing the DGPS position information comprises the following steps:
(1) introducing DGPS high-precision positioning information;
(2) resolving the original vertical acceleration of the carrier by using a second-order backward differentiator;
(3) group delay compensation;
(4) zero phase digital low pass filtering.
2. The backward difference filtering method for solving the acceleration of motion of a carrier using DGPS position information as claimed in claim 1, wherein: the step (1) is to import the DGPS position information during flight measurement operation, specifically including longitude, latitude and altitude information, or corresponding position information in other coordinate systems, and store the data in a specified directory.
3. The backward difference filtering method for solving the acceleration of motion of a carrier using DGPS position information as claimed in claim 1, wherein: the step (2) is a second-order backward difference calculation, the height information in the high-precision position information is input into a second-order backward difference device, the original vertical acceleration information of the carrier is obtained through calculation, the design process of the second-order backward difference device is given below,
the frequency response of an ideal second order differentiator is:
Hd(ejω)＝j2ω2 (1)
from the formula, the amplitude-frequency response of the ideal second-order differentiator is increased twice from 0 to pi, the phase-frequency characteristic is that the phase advances by 180 degrees for all frequencies, the high-precision height sequence obtained by DGPS is recorded as h (n), the vertical velocity sequence obtained by first-order backward differentiation is recorded as v (n), and the following can be written as:
Figure FDA0002084739200000011
the first order backward difference is further performed on the above result, and the obtained vertical acceleration is recorded as a (n), which can be expressed as:
Figure FDA0002084739200000021
and (3) carrying out Z change on the formula to obtain the frequency response characteristic of the second-order backward difference:
Figure FDA0002084739200000022
wherein Z in the vertical acceleration sequence a (n) is converted into A (Z), and Z in the height sequence h (n) is converted into H (Z).
4. The backward difference filtering method for solving the acceleration of motion of a carrier using DGPS position information as claimed in claim 1, wherein: the step (3) is a step of calculating the time delay caused by the second-order backward difference filter according to the definition of the group delay and compensating the time delay, and the formula (5) is the group delay TGroupThe calculation formula of (2):
TGroup＝-dθ/dω (5)
and performing digital shift operation on the sequence obtained by the second-order backward differentiator according to the calculated group delay time to realize group delay compensation.
5. The backward difference filtering method for solving the acceleration of motion of a carrier using DGPS position information as claimed in claim 1, wherein: the step (4) adopts a Hanning window function design method to provide a FIR filter design process, which can be divided into the following four steps:
1) determining a target filter frequency response function Hdl(ejω)
What needs to be designed in this link is a low-pass filter, whose frequency response function is:
Figure FDA0002084739200000023
wherein wcIs the cut-off frequency of the low-pass filter and τ is the group delay of the filter.
2) Obtaining a sampling response function hdl (n) of the target filter
Performing inverse Fourier transform on the designed low-pass filter to obtain an impulse response function hdl (n)
Figure FDA0002084739200000031
Wherein N is the order of the filter. IDTFT represents an inverse fourier transform operation;
3) designing Hanning window function
The time domain expression of the Hanning window function is as follows:
Figure FDA0002084739200000032
the main lobe width of the Hanning window is 8 pi/N, the cut-off frequency of the low-pass filter is set as the main lobe width of the window function, and then the cut-off frequency w is determined according to the determined cut-off frequencycThe order N of the filter can be calculated;
4) determining unit sample response of designed FIR filter
h(n)＝hdl(n)wHann(n)。
6. The backward difference filtering method for solving the acceleration of motion of a carrier using DGPS position information as claimed in claim 1, wherein: the step (4) adopts a Forward-Backward zero-phase filter, and the implementation method comprises the following steps: firstly, an input signal x (n) passes through a filter in a forward sequence, namely, a convolution operation is carried out on the input signal x (n) and a digital filter impulse response sequence h (n):
u(n)＝x(n)*h(n) (10)
time reversal of the result u (n) obtained to v (n):
v(n)＝u(N-1-n) (11)
the sequence w (n) is obtained again by the filter:
w(n)＝v(n)*h(n) (12)
finally, the sequence is time-reversed again, and an accurate zero-phase result y (n) is obtained:
y(n)＝w(N-1-n) (13)。
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CN113204038A (en) * 2021-04-16 2021-08-03 北方工业大学 Kalman smoothing filtering method and smoothing filter based on time domain and frequency domain
CN115060457A (en) * 2022-08-18 2022-09-16 珠海翔翼航空技术有限公司 Method, system and equipment for detecting atmospheric vortex dissipation rate based on aircraft bump
CN115060457B (en) * 2022-08-18 2022-11-08 珠海翔翼航空技术有限公司 Method, system and equipment for detecting atmospheric vortex dissipation rate based on aircraft bump

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