CN113960649A - Navigation method and system of full-system full-band satellite positioning navigation compass - Google Patents

Navigation method and system of full-system full-band satellite positioning navigation compass Download PDF

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CN113960649A
CN113960649A CN202111414964.7A CN202111414964A CN113960649A CN 113960649 A CN113960649 A CN 113960649A CN 202111414964 A CN202111414964 A CN 202111414964A CN 113960649 A CN113960649 A CN 113960649A
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satellite
full
navigation
microprocessor
compass
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张心钰
吴涛
刘川
罗强
李兵
田逢军
罗先琼
张俊华
周忠云
陈耀山
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Csic Chongqing Changping Machinery Co ltd
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Csic Chongqing Changping Machinery Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/53—Determining attitude
    • G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
    • G01S19/55—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • 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
    • G01S19/52—Determining velocity

Abstract

The invention discloses a navigation method and a system of a full-system full-band satellite positioning navigation compass, which simultaneously receive satellite signals of a plurality of satellite systems, identify, filter, calculate and optimize coordinate parameters, receiving time parameters and signal quality parameters of each acquired satellite system, solve the position of each satellite system through original data, establish a satellite system carrier phase difference equation, a navigation algorithm model and an algorithm for dynamically solving the ambiguity in real time in a whole period, solve the solution of a baseline vector in a geodetic coordinate system, obtain the solution of the baseline vector in a local coordinate system through coordinate conversion, and solve the direction information of a ship by using the solution of the baseline vector in the local coordinate system and the solution method of an attitude angle. The scheme solves the problems of single satellite signal interruption and low precision of ships in static or low-speed operation, and achieves the purpose of full-system full-frequency-band all-weather high-precision output of ship bow direction information and continuous signal coverage.

Description

Navigation method and system of full-system full-band satellite positioning navigation compass
Technical Field
The invention relates to the technical field of navigation, in particular to a navigation method and a system of a full-system full-band satellite positioning navigation compass.
Background
In vast sea, the compass provides direction for ships, is one of the most important navigation equipment in ships, is also the necessary equipment for ship navigation, and the International Maritime Organization (IMO) has specific mandatory requirements on the performance and the type of the compass which various tonnage ships should install.
The compass commonly used on the ship at present comprises a magnetic compass and an electric compass. The magnetic compass is a pointing instrument manufactured by means of the earth magnetic field according to the basic principle of a compass; the electric compass, namely the gyrocompass, is an instrument which is manufactured by using the dead axle property and precession of a gyroscope, combining an earth rotation vector and a gravity vector and using a control device and a damping device to provide a true north reference.
The magnetic compass has simple structure, autonomy, reliability, firmness, durability and convenient maintenance; however, the magnetic compass is influenced by geomagnetism and environment, has different performances in all directions, and shows larger errors according to different geographic positions and different ship structures.
Compared with the electric compass, the electric compass has the advantages of more excellent performance, higher precision and autonomous reliability; however, the electric compass is expensive, complex in structure, high in maintenance cost, long in starting stability time and complex in installation and calibration; however, the traditional electric compass has long stabilization time, large volume, large noise, high failure rate, needs annual maintenance, needs to replace a gyro ball for 3-5 years, is frequently repaired and maintained, is expensive, and cannot be quickly steered.
The satellite compass is a navigation product based on a satellite system, is a novel navigation electronic compass, the satellite compasses in the existing market are all received C/A codes of a GPS system L1 frequency band, the satellite compass can not stably output heading, track direction, longitude, latitude, pitch angle, roll angle, gyration rate and other information when satellite signals are shielded, interfered, interrupted, multipath interference and other conditions, and in addition, the satellite navigation equipment has low precision when a ship operates at a static state or a low speed due to signal interruption, multipath interference and other reasons, and can not meet navigation requirements and key maneuvering operation.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide a navigation method and a system of a full-system full-band satellite positioning navigation compass, which can realize full-system full-band all-weather high-precision ship bow direction information output and signal continuous coverage.
In order to solve the technical problems, the invention adopts the following technical scheme:
a navigation method of a full-system full-band satellite positioning navigation compass receives satellite signals of a plurality of satellite systems at the same time, identifies, filters, calculates and optimizes coordinate parameters, receiving time parameters and signal quality parameters of each acquired satellite system, then calculates the position of each satellite system through original data, establishes a satellite system carrier phase difference equation, a navigation algorithm model and an algorithm for dynamically calculating the ambiguity of a whole period in real time, calculates the solution of a baseline vector under a geodetic coordinate system, obtains the baseline vector solution under a local coordinate system through coordinate conversion, and calculates the direction information of a ship by using the baseline vector solution under the local coordinate system and the solution method of an attitude angle.
Thus, the compass of the invention simultaneously receives satellite signals of a plurality of satellite systems, in particular, the compass of the invention simultaneously receives satellite signals of four satellite systems of BDS (Beidou satellite navigation system), GLONASS (Global navigation satellite System), Galileo positioning system and GPS (Global positioning System), the frequencies of the four satellite systems are different, the probability of interruption is very small, the possibility of interference is low, the satellite signals of the four satellite systems are received at the same time, the received data are further processed and calculated after being received, so as to finally obtain the direction information data of the ship, thus being more reliable than the information solved by a single GPS satellite system, meanwhile, the problems of single satellite signal interruption and low precision of a ship in static or low-speed running are solved, and the full-system full-frequency-band all-weather high-precision output of the ship bow direction information and the continuous signal coverage are realized.
Preferably, the data of each satellite and the data of the inertial navigation system are fused through a filter to carry out a combined navigation algorithm, the satellite navigation algorithms are resolved in real time, the filter is used for satellite combined navigation, and a micro electro mechanical system is adopted to carry out calculation of the inertial navigation system under the condition that the satellite navigation of the whole system fails, so that the information output by the navigation compass is effective and in the precision range.
Therefore, the integrated Navigation algorithm that the satellite data and the Inertial Navigation System (INS-Inertial Navigation System) data are fused by adopting the filter greatly improves the overall technical performance of the Navigation System, and meanwhile, the micro-electro-mechanical System is adopted to calculate the Inertial Navigation System under the condition that the satellite Navigation of the whole System fails, so that the information output by the whole-System full-frequency-band satellite positioning Navigation compass at any time is effective, and all-weather, global and high-precision continuous coverage is realized within the precision range.
Preferably, the antenna is used to receive the radio wave information from the same satellite, read the pseudo range and the phase parameter from the radio wave information, calculate the distance difference between the satellite and the two antennas by the compass, then extract the position parameter of the satellite from the radio wave information to calculate the position of the satellite in the geocentric coordinate system, finally obtain the coordinates of the satellite in the horizon coordinate system with the reference antenna as the origin through coordinate transformation, set the position of the non-reference antenna as an unknown parameter, calculate the distance difference between the satellite and the two antennas according to the distance formula between the two points, compare the calculated distance difference with the observed distance difference, change the unknown parameter value of the antenna position to minimize the difference between the distance differences, thereby solve the unknown parameter of the non-reference antenna position and obtain the azimuth of the baseline connecting the two antennas in the horizon coordinate system.
Preferably, the course and attitude information of the ship is solved through a micro-electromechanical system gyroscope and an accelerometer, the angular speed output by the micro-electromechanical system gyroscope in real time is sent to a processor after A/D conversion, the angular speed is integrated in the processor to obtain a rotated angle, and the rotated angle is compared with an initial value to obtain the attitude angle of the current ship.
Therefore, satellite data of all frequency bands of four satellite systems are solved, meanwhile, aiming at the condition that satellite signals are easily shielded by urban canyons, building forests and the like and multipath interference, the high-precision MEMS gyroscope (micro-electro-mechanical system gyroscope) and the accelerometer are arranged, external information is supported for assistance, the reliability, the precision and the dynamic property of the system are greatly improved by means of a new generation of multi-sensor data fusion technology, high-precision carrier heading, position, posture, speed, sensors and other information are provided in real time, and the navigation application requirements of long-time, high-precision and high-reliability in complex environments such as ports, bridges, canyons and the like are well met.
A system for realizing the navigation method of the full-system full-band satellite positioning navigation compass comprises an antenna unit, a processing unit and a display unit;
the antenna unit comprises a plurality of antenna assemblies, and each antenna assembly comprises an antenna for receiving a satellite signal and a low-noise signal module for carrying out noise reduction processing on the satellite signal received by the antenna;
the processing unit comprises a full-system multi-frequency high-precision positioning and orientation module, a radio frequency front end, a first microprocessor, a second microprocessor and a micro electro mechanical system, wherein the output end of each antenna component is in communication connection with the input end of the radio frequency front end through an acoustic surface filter, the output end of the radio frequency front end is in communication connection with the input end of the full-system multi-frequency high-precision positioning and orientation module, the micro electro mechanical system is in bidirectional communication connection with the full-system multi-frequency high-precision positioning and orientation module, the first microprocessor is in bidirectional communication connection with the full-system multi-frequency high-precision positioning and orientation module, the second microprocessor is in bidirectional communication connection with the second microprocessor, and a plurality of interfaces for connecting with external equipment are arranged on the first microprocessor and the second microprocessor;
the input end of the display unit is in communication connection with the output end of the first microprocessor, and the display unit comprises a central processing unit, a display screen and a plurality of interfaces used for being connected with external equipment.
Preferably, the first microprocessor and the second microprocessor are both in communication connection with external equipment by adopting a universal asynchronous receiving and transmitting transmitter, and the processing unit is in communication connection with the display unit by adopting the universal asynchronous receiving and transmitting transmitter.
Preferably, the display unit is developed based on an Android platform, and the first microprocessor, the second microprocessor and the display unit all communicate with external equipment by adopting multiple communication protocols.
Compared with the prior art, the invention has the following advantages:
1. the invention adopts BDS (Beidou satellite navigation system), GLONASS (Global navigation satellite System), Galileo positioning system, GPS (Global positioning System), ARM microprocessor and MEMS (micro-electro-mechanical System) to realize continuous coverage and 0.2-degree high-precision heading information output, the compass stabilization time is fast, the problems of long stabilization time, low precision of navigation aid equipment and complex key maneuvering operation of the traditional compass are solved, meanwhile, the problems of satellite signal interruption and low precision of ship static or low-speed operation are solved, and the full-system full-band all-weather high-precision output of heading, longitude, latitude, attitude, speed and other directional information and signal continuous coverage are realized.
2. The invention adopts multiple communication protocols, realizes full compatibility with mainstream equipment, and the interface completely meets the protocol standards of CourseBus, YDK, CAN Bus, Step, Servo, NMEA, IEC61162, AD10 and the like.
3. The invention adopts no mechanical rotating parts, is maintenance-free, has no repeated cost, and solves the problems of large volume, high noise, high failure rate, annual maintenance, frequent maintenance and high cost due to the fact that the gyro needs to be replaced in 3-5 years in the traditional electric compass.
4. The invention is developed based on an Android platform, is convenient for system upgrading, program control and external equipment interface, is friendly in man-machine interaction, is designed by a full touch screen, and is familiar and concise in operation.
5. The invention solves the problems of key maneuvering operation such as berthing and the like which are difficult to realize by ships.
6. The navigation compass of the invention has the characteristics of low price, rapid direction determination, ship position and speed supply, no need of complicated daily maintenance and the like.
Drawings
FIG. 1 is a connection block diagram of the internal units of the navigation system of the full system full band satellite positioning navigation compass of the present invention;
FIG. 2 is a block diagram of a navigation system of the full system full band satellite positioning navigation compass according to the present invention;
FIG. 3 is a block diagram of a processing unit in the navigation system of the full system full band satellite positioning navigation compass of the present invention;
FIG. 4 is a block diagram of a display unit in a navigation system of the full-system full-band satellite positioning navigation compass.
Detailed Description
The invention will be further explained with reference to the drawings and the embodiments.
A navigation method of a full-system full-band satellite positioning navigation compass receives satellite signals of a plurality of satellite systems at the same time, identifies, filters, calculates and optimizes coordinate parameters, receiving time parameters and signal quality parameters of each acquired satellite system, then calculates the position of each satellite system through original data, establishes a satellite system carrier phase difference equation, a navigation algorithm model and an algorithm for dynamically calculating the ambiguity of a whole period in real time, calculates the solution of a baseline vector under a geodetic coordinate system, obtains the baseline vector solution under a local coordinate system through coordinate conversion, and calculates the direction information of a ship by using the baseline vector solution under the local coordinate system and the solution method of an attitude angle.
Thus, the compass of the invention simultaneously receives satellite signals of a plurality of satellite systems, in particular, the compass of the invention simultaneously receives satellite signals of four satellite systems of BDS (Beidou satellite navigation system), GLONASS (Global navigation satellite System), Galileo positioning system and GPS (Global positioning System), the frequencies of the four satellite systems are different, the probability of interruption is very small, the possibility of interference is low, the satellite signals of the four satellite systems are received at the same time, the received data are further processed and calculated after being received, so as to finally obtain the direction information data of the ship, thus being more reliable than the information solved by a single GPS satellite system, meanwhile, the problems of single satellite signal interruption and low precision of a ship in static or low-speed running are solved, and the full-system full-frequency-band all-weather high-precision output of the ship bow direction information and the continuous signal coverage are realized.
In this embodiment, the data of each satellite and the data of the inertial navigation system are fused through a filter (in this embodiment, a KALMAN filter) to perform a combined navigation algorithm, each satellite navigation algorithm is resolved in real time, the filter is used for satellite combined navigation, and a micro electro mechanical system is used for calculating the inertial navigation system under the condition that the satellite navigation of the whole system fails, so that the information output by the navigation compass is effective and within the precision range.
Therefore, the integrated Navigation algorithm that the satellite data and the Inertial Navigation System (INS-Inertial Navigation System) data are fused by adopting the filter greatly improves the overall technical performance of the Navigation System, and meanwhile, the micro-electro-mechanical System is adopted to calculate the Inertial Navigation System under the condition that the satellite Navigation of the whole System fails, so that the information output by the whole-System full-frequency-band satellite positioning Navigation compass at any time is effective, and all-weather, global and high-precision continuous coverage is realized within the precision range.
In this embodiment, the antenna is used to receive the radio wave information from the same satellite, read the pseudo-range and phase parameter from the radio wave information, calculate the distance difference between the satellite and the two antennas from the compass, then extract the position parameter of the satellite from the radio wave information to calculate the position of the satellite in the geocentric coordinate system, finally obtain the coordinates of the satellite in the horizon coordinate system with the reference antenna as the origin through coordinate transformation, and the position of the non-reference antenna is set as an unknown parameter, calculate the distance difference between the satellite and the two antennas according to the distance formula between the two points, compare the calculated distance difference with the observed distance difference, change the unknown parameter value of the antenna position to minimize the difference between the distance differences, thereby solve the unknown parameter of the non-reference antenna position to obtain the azimuth of the baseline connecting the two antennas in the horizon coordinate system.
In this embodiment, the course and attitude information of the ship is solved through the mems gyroscope and the accelerometer, the angular velocity output by the mems gyroscope in real time is a/D converted and then sent to the processor, the angular velocity is integrated in the processor to obtain a rotated angle, and the rotated angle is compared with an initial value to obtain the attitude angle of the current ship.
Therefore, satellite data of all frequency bands of four satellite systems are solved, meanwhile, aiming at the condition that satellite signals are easily shielded by urban canyons, building forests and the like and multipath interference, the high-precision MEMS gyroscope (micro-electro-mechanical system gyroscope) and the accelerometer are arranged, external information is supported for assistance, the reliability, the precision and the dynamic property of the system are greatly improved by means of a new generation of multi-sensor data fusion technology, high-precision carrier heading, position, posture, speed, sensors and other information are provided in real time, and the navigation application requirements of long-time, high-precision and high-reliability in complex environments such as ports, bridges, canyons and the like are well met.
In this embodiment, the core technology of the full-system full-band satellite positioning and navigation compass system mainly includes: receiver data extraction and conversion techniques; carrier phase differential measurement techniques; a baseline vector solution technique; coordinate system conversion techniques; a dynamic integer ambiguity resolution technique; searching technology of integer ambiguity; the KALMAN filter technique; a combined navigation technique; various hardware interface technologies (LCD interface, RS232, etc.); and software and hardware based embedded system.
The core technology of the full-system full-band satellite positioning navigation compass system relates to the algorithm: the integer ambiguity resolution technology is that the integer ambiguity is resolved by using the difference between the carrier phase double difference and the pseudo range double difference; the whole-cycle ambiguity searching technology is a method combining the limitation of the length of a base line and a least square method, so that the whole-cycle ambiguity searching of an independent basic satellite group is changed from three dimensions to two dimensions, and the combination of the whole-cycle ambiguity is searched by using non-independent residual satellite groups, thereby greatly reducing the complexity of the algorithm; the attitude angle solving technology of the fixed base line adopts the dynamic positioning technology of the fixed base line, can directly calculate the attitude angle of the carrier, and greatly reduces the solving complexity of the attitude angle; the integrated navigation technology is an integrated navigation algorithm for fusing satellite data and INS data by using a KALMAN filter; the self-designed embedded system and the navigation algorithm are realized on the embedded system.
The key technical point analysis involved in the invention is explained as follows:
carrier phase differential measurement technique
The GPS measurement system adopts two technologies, one is a pseudo-range measurement technology; another is a carrier phase measurement technique. The precision of the pseudo-range measurement technology is low, generally about 10 m; the carrier phase measurement technology has high precision, and is generally centimeter-level. The full-system full-band satellite positioning navigation compass system adopts a carrier phase difference technology to resolve compass parameters and requires to resolve the whole-cycle ambiguity; common interference between satellites and receivers and interference between a troposphere and an ionosphere are eliminated.
The technology mainly measures the distance difference according to the phase difference of the carrier wave in the full-system full-band satellite positioning and navigation compass. The main technical description is as follows: the two GPS antennas are arranged in the direction of the ship fore line, and the position of the two antennas is different, so that the satellite can reach the two antennasThe received signal carrier generates phase satellite difference, and the distance difference between the satellite and the two antennas can be obtained according to the phase difference. Assuming that the carrier frequency is f, the angular frequency is ω, the distance from the satellite to the antenna 1 is D1, the distance from the satellite to the antenna 2 is D2, and the required radio wave propagation times are D1C and D2and/C (C is the electromagnetic wave propagation speed). Then the phases are respectively Ψ1＝ω*D1C and Ψ2＝ω*D2/C；
The phase difference from the satellite signal to the two antennas is:
ΔΨ＝Ψ1-Ψ2＝(ωt-ω*D1/C)-(ωt-ω*D2/C)＝ω/C*(D2-D1)
since C ═ λ × f, λ is the carrier wavelength, so: Δ Ψ ═ 2 π/λ (D2-D1)
The distance difference is: Δ D ═ D2-D1 ═ λ/2 pi ═ Δ Ψ ═ λ/2 pi ═ 2N pi + Δ Ψ (2N pi + Δ Ψ)
In the formula: Δ Ψ is a phase difference value less than an integer period, and can be obtained by subtracting original observed quantity phase information provided by two antennas; n is the phase integer difference part, and can be obtained by the following method: pseudoranges are the difference between the time of reception of the signal at the receiver and the time of transmission of the signal from the satellite multiplied by the speed of light. The carrier frequency of L1 of GPS is used for illustration (1575.42MHz, corresponding to a wavelength of 19cm), and other bands are similar. The modulated CA code to obtain a pseudorange. Given the pseudo-range information provided by the two GPS's as C1 and C2, the paths taken by the satellites to reach the two GPS antennas are substantially the same for satellites that are as far as 20183km, due to the close proximity of the two GPS antennas. That is, the ionospheric and tropospheric delays for the same satellite signal to reach both receivers are the same. Phase integer difference part N ═ C1-C2|/0.19。
Coordinate system conversion technique
Coordinate system conversion technology is often used in the process of obtaining the attitude angle of the carrier. The coordinate system used by the full-system full-band satellite positioning navigation compass system comprises a WGS-84 geocentric coordinate system, a local horizontal coordinate system and a carrier coordinate system. The correct translation relationship must be established between the different coordinate systems. The technology mainly solves the position of the satellite in a horizon coordinate system by a geocentric coordinate system in the full-system full-frequency-band satellite positioning navigation compass. And obtaining the satellite ephemeris parameters according to the ephemeris parameters in the satellite navigation messages, namely, the ephemeris parameters of the satellite can be obtained by broadcasting the ephemeris through the satellite by the global positioning system user. There are l6, including one reference time, 6 Kepler orbit parameters corresponding to the reference time and 9 parameters reflecting the influence of perturbation force. The parameters are defined as follows:
ms 0: the toe time satellite mean-approach point angle; es: eccentricity of the track; as: the square root of the long half axis of the track; omega. : the right ascension at the ascending intersection at the reference time; i: track inclination at a reference time; u: true proximal angle; ω s: angular distance of the track from the near place; Δ n: average running speed difference; omega: rate of change of ascending crossing right ascension; i: rate of change of track inclination; cuc, Cus: harmonic correction term amplitude of the elevation angle; crs: harmonic correction term amplitude of satellite earth-center distance; cic, Cis: harmonic correction term amplitude of the track dip; t: is the ephemeris reference time. The steps of calculating the satellite positions at time t using the ephemeris parameters are as follows:
calculating the true near point angle u of the satellite at the time t and the relative ascending point angle distance phi of the satellite
Calculating the average motion angular velocity n and the approximate point angle M:
Figure BDA0003375524170000071
GM is the gravity constant GM of 398603 × 109m3/s2
M＝Mo+(n+Δn)(t-toe)
Calculating an approximate point angle E by utilizing a Kepler equation iteration mode, and stopping iteration when | E (i +1) -Ei | < xi ═ 10-12
E(i+1)＝M+esinEi,Eo＝M
Calculating the true near point angle u and the relative elevation intersection angle distance phi of the satellite
Figure BDA0003375524170000072
Φ＝u+ωs
Calculating perturbation correction
δr＝Crccos2Φ+Crssin2Φ δi＝Ciccos2Φ+Cissin2Φ
δu＝Cuccos2Φ+Cussin2Φ
Calculating the geocentric distance, the elevation intersection angular distance, the orbital inclination and the elevation intersection longitude of the corrected satellite
r＝as(1-ecosE)+δr
Φ'＝Φ+δu
i＝io+i(t-toe)+δi
Ω＝Ωo+(Ω-ωe)(t-toe)+ωetoe
ωeIs the rotational angular velocity omega of the earthe＝7.292115x10-5rad/s
Calculating the position of the satellite in the orbital plane:
x＝rcosΦ′ y＝rsinΦ′
calculating the position of the satellite in the geocentric coordinate system:
Figure BDA0003375524170000081
the observation of satellites is performed on the surface of the earth. Therefore, the position of the satellite in the geocentric coordinate system must be converted
To the horizon XYZ coordinate system. The antenna 1 is used as an origin O of a coordinate system, and the OX axis points to the zenith of the position, and the 0Z axis points to the east. The OY axis is determined by right hand rule, perpendicular to the 0XZ plane. The coordinates Xg, Yg, Zg of the satellite in the horizon coordinate system at this time are:
Figure BDA0003375524170000082
in the formula: lambda [ alpha ]GThe red meridian of Greenwich mean meridian; λ is the antenna 1 position longitude;
Figure BDA0003375524170000083
the latitude of the antenna 1 position.
Baseline vector solution technique
The final course information of the full-system full-band satellite positioning navigation compass is calculated by utilizing the technology in the full-system full-band satellite positioning navigation compass. The difference in distance from the satellite S to the antenna 0 'and the antenna 0 "and the position of the satellite in the horizon are measured from above, according to the direction of the baseline 0' 0" connecting the two antennas. The direction of the baseline 0' 0 "connecting the two antennas can be found. The length R of 0' is constant. Assuming that the baseline forms an angle θ with the Y-axis, the coordinate system of 0 "in the horizon coordinate system is:
x″＝0,y″＝Rcosθcz″＝Rsinθ
by varying θ, different distance differences can be found:
Figure BDA0003375524170000091
Figure BDA0003375524170000092
and finally, comparing the measured distance difference with the calculated distance difference, wherein theta corresponding to the distance difference with the minimum error is the azimuth of the base line, and the included angle between the true north direction and the base line direction is obtained from the position of the base point O'. I.e. the bow direction.
Integer ambiguity resolution technique
The integer ambiguity resolution technology is a key technology of the full-system full-band satellite positioning navigation compass. And resolving the integer ambiguity by adopting a method of carrier phase double difference and pseudo-range double difference.
Integer ambiguity search technique
The integer ambiguity searching technology is that the fixed base length is used as a searching limit and a traditional least square method is combined to search the integer ambiguity combination, so that the solving of the integer ambiguity is reduced from three dimensions to two dimensions.
Combined navigation technology
The integrated Navigation technology is the development direction of the Navigation technology, and the full-System full-band satellite positioning Navigation compass System adopts the integrated Navigation algorithm that the simplified Kalman filter fuses satellite data and Inertial Navigation System (INS-Inertial Navigation System) data, thereby greatly improving the overall technical performance of the Navigation System.
The integrated navigation algorithm of the full-system full-band satellite positioning navigation compass system adopts a strapdown integrated navigation algorithm. The INS adopts an MEMS gyroscope, the gyroscope outputs angular velocity in real time, the angular velocity is sent to a processor after A/D conversion, the angular velocity is integrated in the processor, the rotated angle can be obtained, and the current attitude angle can be known from an initial value. And carrying out data fusion on the course angle output by the satellite and the attitude angle output by the gyroscope by using a KALMAN filter.
The full-system full-band satellite positioning navigation compass is full-system full-band coverage, real-time calculation is carried out on satellite navigation algorithms of all systems, satellite integrated navigation is carried out by applying a KALMAN filter, and INS calculation is carried out by adopting MEMS under the condition that the full-system satellite navigation fails, so that the output information of the full-system full-band satellite positioning navigation compass at any time is effective and within the precision range. The Android platform is innovatively used, system upgrading, program control and external equipment interfaces are facilitated, meanwhile, human-computer interaction is friendly, and a full-touch screen design is achieved. The control unit can have the configurations of a practical compact type, a function redundancy type and a standard type according to the requirements of users.
As shown in fig. 1 and fig. 2, a system for implementing the navigation method of the full-system full-band satellite positioning navigation compass includes an antenna unit, a processing unit and a display unit;
the antenna unit comprises a plurality of antenna assemblies, each antenna assembly comprises an antenna for receiving satellite signals and a low-noise signal module for carrying out noise reduction processing on the satellite signals received by the antenna, each antenna assembly also comprises a cable, a connector and the like, the antenna adopts a ceramic antenna, and the main performance of the antenna is influenced by a ceramic chip, a silver layer, a feed point and an amplifying circuit.
The processing unit comprises a full-system multi-frequency high-precision positioning and orientation module (in the embodiment, a Nebulas-II chip is adopted), a radio frequency front end (RF front end), a microprocessor I, a microprocessor II (in the embodiment, the microprocessors all adopt ARM LPC1768 microprocessors) and a Micro Electro Mechanical System (MEMS), the output end of each antenna component is in communication connection with the input end of the radio frequency front end through a surface acoustic wave Filter (SAW Filter), the input end of the radio frequency front end is also connected with a temperature compensation type crystal resonator (TCXO), the output end of the radio frequency front end is in communication connection with the input end of the full-system multi-frequency high-precision positioning and orientation module, the micro electro mechanical system is in two-way communication connection with the full-system multi-frequency high-precision positioning and orientation module, the microprocessor I is in two-way communication connection with the full-system high-precision positioning and orientation module, and the microprocessor II is in two-way communication connection with the microprocessor, in the specific embodiment, the first microprocessor and the second microprocessor are connected with a radar, an autopilot, a graphic plotting instrument, a water flow indicator, an electronic chart, an automatic identification system, a compass repeater, a GPS, a log, a magnetic compass, a differential signal receiver, an alarm, a VDR or a printer and the like in the external equipment; fig. 3 is an internal block diagram of the processing unit, wherein an output end of the antenna unit is connected to a full-system multi-frequency high-precision positioning and orienting module, an output end of the full-system multi-frequency high-precision positioning and orienting module is in communication connection with a first microprocessor, an input end of the first microprocessor is also in communication connection with a log, a magnetic compass, an electric compass and an external alarm source through an optical coupling isolation circuit, the first microprocessor is also in communication connection with the first microprocessor, and is in communication connection with a radar, an autopilot, a graphic plotting instrument, a water flow indicator, an electronic chart, a sonar, an automatic identification system, a compass repeater VDR or a printer, a display unit and the like in external setting through a communication interface circuit, and alarm output is performed.
As shown in fig. 4, the input terminal of the display unit is communicatively connected with the output terminal of the first microprocessor, the display unit comprises a central processing unit CPU, a display screen, and a plurality of interfaces (such as a power interface, a signal interface, a display interface, etc.) for connecting with external devices, and the display unit is developed based on an Android platform and is mainly used for original data receiving, related data intercepting, data processing, UI refreshing, operation control and the like, wherein the processing unit is in communication connection with the central processing unit CPU, and the central processing unit CPU supplies power to the outside through the power interface, the CPU is also provided with a program debugging interface, the output end of the CPU is connected with the display screen, with the data information after showing through the display screen and handling, central processing unit CPU's output can also directly send data to the WIFI receiving terminal through the WIFI, or divide into the multiunit WIFI through external network and gateway equipment and send to the WIFI receiving terminal.
In this embodiment, the first microprocessor and the second microprocessor are both in communication connection with an external device by using a Universal Asynchronous Receiver Transmitter (UART), and the processing unit and the display unit are in communication connection by using the UART.
In this embodiment, the display unit is developed based on an Android platform, and the first microprocessor, the second microprocessor and the display unit all communicate with an external device by using multiple communication protocols.
Compared with the prior art, the invention adopts BDS (Beidou satellite navigation system), GLONASS (Global navigation satellite System), Galileo positioning system, GPS (Global positioning System), ARM microprocessor and MEMS (micro-electro-mechanical System) to realize continuous coverage and 0.2-degree high-precision accurate heading information output, has fast compass stabilization time, solves the problems of long conventional compass stabilization time, low navigation aid equipment precision and complex key maneuvering operation, solves the problems of satellite signal interruption and low precision of ship static or low-speed operation, and realizes the full-system full-frequency-band all-weather high-precision output of heading, longitude, latitude, attitude, speed and other directional information and continuous coverage of signals. The invention adopts multiple communication protocols, realizes full compatibility with mainstream equipment, and the interface completely meets the protocol standards of CourseBus, YDK, CAN Bus, Step, Servo, NMEA, IEC61162, AD10 and the like. The invention adopts no mechanical rotating parts, is maintenance-free, has no repeated cost, and solves the problems of large volume, high noise, high failure rate, annual maintenance, frequent maintenance and high cost due to the fact that the gyro needs to be replaced in 3-5 years in the traditional electric compass. The invention is developed based on an Android platform, is convenient for system upgrading, program control and external equipment interface, is friendly in man-machine interaction, is designed by a full touch screen, and is familiar and concise in operation. The invention solves the problems of key maneuvering operation such as berthing and the like which are difficult to realize by ships. The navigation compass of the invention has the characteristics of low price, rapid direction determination, ship position and speed supply, no need of complicated daily maintenance and the like.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.

Claims (7)

1. A navigation method of a full-system full-band satellite positioning navigation compass is characterized in that satellite signals of a plurality of satellite systems are received simultaneously, acquired coordinate parameters, receiving time parameters and signal quality parameters of each satellite system are identified, filtered, calculated and optimized, the position of each satellite system is calculated through original data, a satellite system carrier phase difference equation, a navigation algorithm model and a dynamic real-time whole-period ambiguity resolving algorithm are established, the solution of a baseline vector under a geodetic coordinate system is solved, the baseline vector solution under a local coordinate system is obtained through coordinate conversion, and the direction information of a ship is solved by the baseline vector solution under the local coordinate system and the solution method of an attitude angle.
2. The navigation method of the full-system full-band satellite positioning navigation compass according to claim 1, wherein the data of each satellite and the data of the inertial navigation system are fused through a filter to perform an integrated navigation algorithm, the satellite navigation algorithms are calculated in real time, the filter is applied to perform satellite integrated navigation, and a micro electro mechanical system is used to perform calculation of the inertial navigation system under the condition that the full-system satellite navigation fails, so that the information output by the navigation compass is effective and within the precision range.
3. The navigation method of the whole system whole band satellite positioning navigation compass according to claim 1, wherein the antenna is used to receive the radio wave information from the same satellite, and read the pseudo-range and phase parameters from the radio wave information, the compass calculates the distance difference between the satellite and the two antennas, then the position parameter of the satellite is taken out from the radio wave information to calculate the position of the satellite in the geocentric coordinate system, finally the coordinate of the satellite in the horizon coordinate system with the reference antenna as the origin is obtained by coordinate transformation, and the position of the non-reference antenna is set as the unknown parameter, the distance difference between the satellite and the two antennas is calculated according to the distance formula between the two points, the calculated distance difference is compared with the observed distance difference, and the unknown parameter value of the antenna position is changed to minimize the difference between the distance differences, thereby solving the unknown parameter of the non-reference antenna position, the orientation of the baseline connecting the two antennas in the horizon coordinate system is obtained.
4. The navigation method of the full-system full-band satellite positioning navigation compass according to claim 1, wherein the course and attitude information of the ship are solved through a micro electro mechanical system gyroscope and an accelerometer, the angular velocity output by the micro electro mechanical system gyroscope in real time is sent to a processor after being subjected to A/D conversion, the angular velocity is integrated in the processor to obtain a rotated angle, and the rotated angle is compared with an initial value to obtain the attitude angle of the current ship.
5. A system for implementing the navigation method of the full-system full-band satellite positioning navigation compass according to claim 1, comprising an antenna unit, a processing unit and a display unit;
the antenna unit comprises a plurality of antenna assemblies, and each antenna assembly comprises an antenna for receiving a satellite signal and a low-noise signal module for carrying out noise reduction processing on the satellite signal received by the antenna;
the processing unit comprises a full-system multi-frequency high-precision positioning and orientation module, a radio frequency front end, a first microprocessor, a second microprocessor and a micro electro mechanical system, wherein the output end of each antenna component is in communication connection with the input end of the radio frequency front end through an acoustic surface filter, the output end of the radio frequency front end is in communication connection with the input end of the full-system multi-frequency high-precision positioning and orientation module, the micro electro mechanical system is in bidirectional communication connection with the full-system multi-frequency high-precision positioning and orientation module, the first microprocessor is in bidirectional communication connection with the full-system multi-frequency high-precision positioning and orientation module, the second microprocessor is in bidirectional communication connection with the second microprocessor, and a plurality of interfaces for connecting with external equipment are arranged on the first microprocessor and the second microprocessor;
the input end of the display unit is in communication connection with the output end of the first microprocessor, and the display unit comprises a central processing unit, a display screen and a plurality of interfaces used for being connected with external equipment.
6. The system according to claim 5, wherein the first microprocessor and the second microprocessor are both communicatively connected to an external device using UART, and the processing unit and the display unit are communicatively connected using UART.
7. The navigation system of the full-system full-band satellite positioning and navigation compass according to claim 5, wherein the display unit is developed based on an Android platform, and the first microprocessor, the second microprocessor and the display unit all communicate with an external device by using multiple communication protocols.
CN202111414964.7A 2021-11-25 2021-11-25 Navigation method and system of full-system full-band satellite positioning navigation compass Pending CN113960649A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116879927A (en) * 2023-09-06 2023-10-13 智慧司南(天津)科技发展有限公司 Ship satellite compass heading determination method based on three-antenna collinear common clock architecture

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116879927A (en) * 2023-09-06 2023-10-13 智慧司南(天津)科技发展有限公司 Ship satellite compass heading determination method based on three-antenna collinear common clock architecture
CN116879927B (en) * 2023-09-06 2023-11-21 智慧司南(天津)科技发展有限公司 Ship satellite compass heading determination method based on three-antenna collinear common clock architecture

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