CN114966795A - Reflector-based remote target equipment precision attitude measurement method - Google Patents

Reflector-based remote target equipment precision attitude measurement method Download PDF

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Publication number
CN114966795A
CN114966795A CN202210517101.0A CN202210517101A CN114966795A CN 114966795 A CN114966795 A CN 114966795A CN 202210517101 A CN202210517101 A CN 202210517101A CN 114966795 A CN114966795 A CN 114966795A
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antenna
signal
target equipment
reflector
baseline
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何维
张静
田增山
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Chongqing University of Post and Telecommunications
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Chongqing University of Post and Telecommunications
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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

Abstract

The invention provides a remote target equipment precision attitude measurement method based on signal reflectors, the system forwards signals received by equipment to a fixed base station by using three designed signal reflectors, and three-dimensional attitude measurement is carried out on target equipment by using signal phase differences transmitted by the three signal reflectors, compared with the traditional attitude monitoring, the method has low cost and wide application range; preprocessing the received signals by the three receiving antennas at the position of the fixed base station to obtain more stable original data; and then establishing a pseudo-range and carrier phase double-difference observation model by utilizing the preprocessed signals of different antennas so as to eliminate delay errors in the signal transmission process, solving the whole-cycle ambiguity by combining Kalman filtering and a lambda algorithm in the process, and solving attitude vectors of a main base line and a secondary base line so as to obtain a yaw angle, a pitch angle and a yaw-roll angle of the target equipment. The method can effectively measure the three-dimensional attitude of the remote target equipment.

Description

Reflector-based remote target equipment precision attitude measurement method
Technical Field
The invention belongs to an outdoor remote precise attitude measurement technology, and relates to a low-cost remote precise attitude measurement method based on a signal reflector.
Background
With the need of social science and technology development, the attitude measurement technology is applied to more and more engineering practices, and the existing attitude measurement technologies are many and more commonly used are an inertial attitude measurement technology and a satellite attitude measurement technology. Compared with the satellite attitude measurement technology, the satellite attitude measurement technology has the advantages of being low in cost, easy to deploy and wide in product application, and most importantly, the satellite attitude measurement technology does not have the problem of error accumulation.
On the basis of the attitude measurement technology, the real-time remote attitude measurement still has some difficulties in consideration, the current real-time field attitude measurement technology is mature, but the problem that how to realize accurate remote attitude measurement is still significant in research significance is still solved, and particularly on the problems of deformation monitoring of buildings, bridge safety monitoring, radio wave propagation technology research and the like, no matter deformation of large buildings or attitude change of microwave antennas, great potential safety hazards are generated on scientific and technological development of economic construction, so that real-time control of attitude information of the large buildings and the microwave antennas is necessary. Similar to the problem, the remote precise attitude measurement technology has great application prospect.
The invention provides a remote target equipment precision attitude measurement method based on signal reflectors, the system forwards signals received by equipment to a fixed base station by using three designed signal reflectors, and three-dimensional attitude measurement is carried out on target equipment by using signal phase differences transmitted by the three signal reflectors, compared with the traditional attitude monitoring, the method has low cost and wide application range; preprocessing the received signals by the three receiving antennas at the position of the fixed base station to obtain more stable original data; and then establishing a pseudo-range and carrier phase double-difference observation model by utilizing the preprocessed signals of different antennas so as to eliminate delay errors in the signal transmission process, solving the whole-cycle ambiguity by combining Kalman filtering and a lambda algorithm in the process, and solving attitude vectors of a main base line and a secondary base line so as to obtain a yaw angle, a pitch angle and a yaw-roll angle of the target equipment. The method can effectively measure the three-dimensional attitude of the remote target equipment.
Disclosure of Invention
The invention aims to provide a remote target equipment precision attitude measurement method based on a signal reflector, which combines the signal reflector with a carrier phase double-difference technology and effectively monitors the three-dimensional attitude of an object.
The invention relates to a low-cost remote precise attitude measurement method suitable for target equipment, which comprises the following steps of:
designing a small signal reflector;
selecting a key position on the target equipment, deploying three signal reflectors, selecting a proper position at a fixed base station, and installing three directional receiving antennas and terminal resolving equipment;
extracting original data, acquiring a carrier phase observation value and a pseudo-range observation value, constructing a carrier phase positioning model, and solving the integer ambiguity N in the carrier phase measurement value by combining Kalman filtering and an LAMBDA algorithm;
and step four, substituting the integer ambiguity N into the coordinate for resolving to obtain state information of two baselines formed by three reflectors so as to judge whether the three-dimensional attitude of the target equipment has attitude change.
Advantageous effects
The invention provides a low-cost remote precise attitude measurement method based on a satellite signal reflector, which has the following advantages:
1. a reflector-based carrier phase attitude measurement model is effectively constructed, and a model basis is provided for remote precise attitude measurement;
2. the signal reflector is combined with the directional antenna at the fixed base station for use, so that all-weather continuous remote attitude measurement can be realized, the three-dimensional attitude information of the target equipment can be received and solved directly at the fixed base station without waiting for manual inspection, and the technology can be widely applied to the aspects of remote intelligent angle modulation and the like;
3. the signal reflector needs to amplify signal power and is an active device, but solar energy can be used for supplying power outdoors, so that the cost is low, and the signal reflector can be popularized and used in a large area.
Drawings
Fig. 1 is a signal reflector of the design.
FIG. 2 is a schematic diagram of a test scenario of the present invention.
Detailed description of the preferred embodiments
The invention is described in further detail below with reference to the accompanying drawings:
step one, as shown in fig. 2, three key positions are selected on target equipment and satellite signal reflectors are respectively deployed;
selecting the position of a fixed base station, and respectively installing three directional antennas, signal receiving equipment and signal resolving equipment;
extracting original data, obtaining a carrier phase observation value and a pseudo-range observation value, constructing a carrier phase model, and respectively solving the baseline vectors of the main baseline of Rf1-Rf2 and the auxiliary baseline of Rf1-Rf3, wherein the solving process is as follows:
3a, firstly, performing pseudo-range point positioning by using observation data of an antenna Dx1 at a fixed base station, calculating an initial position of an antenna Rx1, solving the initial position as an initial value of a state variable, and then performing pseudo-range point positioning on data of an antenna Dx2 and an antenna Dx3 respectively, and calculating initial positions of the antenna Dx2 and an antenna Dx 3;
3b, using the antenna Dx1 and the antenna Dx2 to jointly observe the satellite to construct a carrier phase differential equation, and regarding the antenna Dx1, the pseudo-range observation equation is
ρ(t)＝c[t Dx1 (t)-t (s) (t-τ)] (1)
Wherein τ is τ 1 +τ 2 +τ 3 ，
Figure BDA0003641798950000031
r is the geometric distance between the satellite and the reflector, I (t) is the ionospheric delay, T (t) is the tropospheric delay, τ 2 For internal time delay of reflectors, tau 3 The time taken for the signal to travel from the reflector to the antenna Dx1, t Dx1 (t) is the time at which the satellite signal is ultimately received by antenna Dx1, t (s) (t-tau) is the time of satellite signal transmission, the pseudorange observed value and the carrier phase observed value of the antenna Dx1 signal obtained after derivation are respectively
Figure BDA0003641798950000032
Wherein b is the distance generated by time delay in the wireless transmission path, δ t Dx1 (t) is the receiver clock difference, ε ρ1 Measuring noise amount for the pseudo range;
similarly, for fixed base station antenna Dx2, the pseudorange observations and carrier phase observations derived are
Figure BDA0003641798950000033
For a fixed base station antenna Dx3, the pseudorange observations and carrier phase observations derived are
Figure BDA0003641798950000034
Carrier phase and pseudo range single difference of signals received by two antennas Dx1 and Dx2, satellite clock difference elimination, error caused by delay in receiver clock difference and signal reflection process, etc. the single difference ionospheric delay and single difference tropospheric delay are approximately 0 to obtain
Figure BDA0003641798950000035
Similarly, there are two antennas for Dx1 and Dx3
Figure BDA0003641798950000036
In the single difference process, a Kalman filtering algorithm is combined to solve a floating point solution of single difference integer ambiguity;
3c, converting the single difference into double differences to obtain a double difference measurement value phi (ij) And ρ (ij) Is then given by
Figure BDA0003641798950000041
Figure BDA0003641798950000042
Obtaining a double-difference integer ambiguity vector by integer ambiguity resolution
Figure BDA0003641798950000043
And
Figure BDA0003641798950000044
substituting the ambiguity vector into the following formula, and further improving the baseline vector estimation precision by using the integer characteristic of the ambiguity;
Figure BDA0003641798950000045
when substituting into
Figure BDA0003641798950000046
In the formula
Figure BDA0003641798950000047
I.e. a fixed solution to the baseline vector corrections of the Rf1-Rf2 main baseline,
Figure BDA0003641798950000048
is composed of
Figure BDA0003641798950000049
A corresponding covariance matrix; when substituting into
Figure BDA00036417989500000410
In the formula
Figure BDA00036417989500000411
Is the fixed solution of the baseline vector correction number of the Rf1-Rf3 secondary baseline; to this end, the attitude of the main baseline Rf1-Rf2 and the sub-baseline Rf1-Rf3 has been solved;
step four, calculating the yaw angle and the pitch angle of the target equipment according to the vector coordinates of the main base line in a local horizontal coordinate system; and calculating the roll angle of the target equipment according to the vector coordinates of the secondary base line in the local horizontal coordinate system.
4a, acquiring a geodetic coordinate system; converting the baseline vector coordinates of the main baseline Rf1-Rf2 and the sub-baseline Rf1-Rf3 in step b) into coordinates in a local horizontal coordinate system:
the coordinates of the main base lines Rf1-Rf2 in the geodetic coordinate system are
Figure BDA00036417989500000412
The coordinates of the sub-baselines Rf1-Rf3 in the geodetic coordinate system are
Figure BDA00036417989500000413
4b, acquiring the three-dimensional posture of the target equipment
Yaw angle:
Figure BDA0003641798950000051
pitch angle:
Figure BDA0003641798950000052
deflection of transverse roll angle:
Figure BDA0003641798950000053
calculating the yaw angle and the pitch angle of the target equipment according to the vector coordinates of the main base line in a local horizontal coordinate system; and calculating the roll angle of the target equipment according to the vector coordinates of the secondary base line in the local horizontal coordinate system.

Claims (5)

1. A reflector-based remote target equipment precision attitude measurement method is characterized in that:
a) constructing a reflector-based remote target equipment attitude measurement scene, selecting three key positions on target equipment in the scene, and selecting the position of a fixed base station;
b) the equipment comprises a designed small satellite signal reflector (1), a directional receiving antenna (2), signal processing equipment (3) and signal resolving equipment (4);
c) signal reflectors (1) are respectively deployed at three key positions of target equipment, and the signals are forwarded to a fixed base station, and the reflectors do not need to resolve original satellite signals;
d) the fixed base station is provided with three directional antennas (2) which respectively receive signals transmitted by three satellite signal reflectors (1) and obtain two baseline vector data by a difference method according to the received three original signals. And respectively constructing a carrier phase differential equation, and resolving three-dimensional attitude information of the target equipment so as to judge whether the yaw angle, the pitch angle and the yaw roll angle of the target equipment change.
2. The method of claim 1, wherein three directional receiving antennas (2) are installed at the fixed base station in the scenario, directional antenna Dx1 receives signals from signal reflector Rf1, directional antenna Dx2 receives signals from signal reflector Rf2, and directional antenna Dx3 receives signals from signal reflector Rf 3.
3. The method for fine attitude measurement of a remote target device based on reflectors according to claim 1, wherein the satellite signal reflector (1) is composed of a signal receiving antenna Rx (5), a satellite signal power amplifier (6) and a signal directional transmitting antenna Tx (7).
4. The reflector-based remote target apparatus fine attitude measurement method according to claim 1, wherein the main baseline (8) and the sub-baseline (9) are constituted by reflectors Rf1-Rf2 and Rf1-Rf 3.
5. The precise attitude measurement method of a remote target device based on reflectors according to claim 1, characterized in that the attitude changes of the Rf1-Rf2 main base line (8) and Rf1-Rf3(9) sub base line are solved by using the signals received by the antenna Rx1, the antenna Rx2 and the antenna Rx3, and the solving steps are as follows:
a) firstly, pseudo-range point positioning is carried out by utilizing observation data of an antenna Dx1 at a fixed base station, the initial position of an antenna Rx1 is calculated, the solution is used as the initial value of a state variable, then pseudo-range point positioning is carried out on the data of an antenna Dx2 and an antenna Dx3 respectively, and the initial positions of the antenna Dx2 and an antenna Dx3 are calculated;
b) the common observation satellite of the antenna Dx1 and the antenna Dx2 is used for constructing a carrier phase differential equation, and for the antenna Dx1, a pseudo-range observation equation is
ρ(t)＝c[t Dx1 (t)-t (s) (t-τ)] (1)
Wherein τ is τ 1 +τ 2 +τ 3 ，
Figure FDA0003641798940000021
r is the geometric distance between the satellite and the reflector, I (t) is the ionospheric delay, T (t) is the tropospheric delay, τ 2 For internal time delay of reflectors, tau 3 Time, t, taken for signal to travel from reflector Rf1 to antenna Dx1 Dx1 (t) is the time at which the satellite signal is ultimately received by antenna Dx1, t (s) (t-tau) is the transmission time of the satellite signal, and the pseudo-range observed quantity and the carrier phase observed quantity of the antenna Dx1 signal obtained after derivation are respectively
Figure FDA0003641798940000022
Wherein b is the distance generated by time delay in the wireless transmission path, δ t Dx1 (t) is the receiver clock difference, ε ρ1 Measuring noise amount for the pseudo range;
similarly, for fixed base station antenna Dx2, the derived pseudorange observations and carrier-phase observations are
Figure FDA0003641798940000023
For a fixed base station antenna Dx3, the derived pseudorange observations and carrier phase observations are
Figure FDA0003641798940000024
Carrier phase and pseudo range single difference of signals received by two antennas Dx1 and Dx2, eliminating satellite clock difference, eliminating errors brought by receiver clock difference and delay in signal reflection process, etc., wherein the single difference process almost eliminates all errors in signal transmission process, and the single difference ionosphere delay and the single difference troposphere delay are approximately 0, thus obtaining
Figure FDA0003641798940000025
Similarly, there are two antennas for Dx1 and Dx3
Figure FDA0003641798940000026
In the single difference process, a Kalman filtering algorithm is combined to solve a floating point solution of single difference integer ambiguity, and then the single difference is converted into double differences to obtain double difference measurement values phi (ij) And ρ (ij) The observation equation of (1) then has
Figure FDA0003641798940000027
Figure FDA0003641798940000031
Obtaining a double-difference integer ambiguity vector by integer ambiguity resolution
Figure FDA0003641798940000032
And
Figure FDA0003641798940000033
substituting the ambiguity vector intoThe integer characteristic of the ambiguity is utilized to further improve the baseline vector estimation precision;
Figure FDA0003641798940000034
when substituting into
Figure FDA0003641798940000035
In the formula
Figure FDA0003641798940000036
I.e. a fixed solution to the baseline vector corrections of the Rf1-Rf2 main baseline,
Figure FDA0003641798940000037
is composed of
Figure FDA0003641798940000038
A corresponding covariance matrix; when substituting into
Figure FDA0003641798940000039
In the formula
Figure FDA00036417989400000310
Is the fixed solution of the baseline vector correction number of the Rf1-Rf3 secondary baseline;
to this end, the baseline vector data for the main baseline Rf1-Rf2 and the sub-baselines Rf1-Rf3 have been solved;
c) then, acquiring a geodetic coordinate system; converting the baseline vector coordinates of the main baseline Rf1-Rf2 and the sub baseline Rf1-Rf3 in step b) into coordinates in a geodetic coordinate system:
the coordinates of the main base lines Rf1-Rf2 in the geodetic coordinate system are
Figure FDA00036417989400000311
The coordinates of the sub-baselines Rf1-Rf3 in the geodetic coordinate system are
Figure FDA00036417989400000312
The three-dimensional attitude of the target device is
Yaw angle:
Figure FDA00036417989400000313
pitch angle:
Figure FDA00036417989400000314
deflection of transverse roll angle:
Figure FDA0003641798940000041
calculating the yaw angle and the pitch angle of the target equipment according to the vector coordinates of the main base line in a local horizontal coordinate system; and calculating the roll angle of the target equipment according to the vector coordinates of the secondary base line in the local horizontal coordinate system.
CN202210517101.0A 2022-05-13 2022-05-13 Reflector-based remote target equipment precision attitude measurement method Pending CN114966795A (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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