WO2017066915A1 - Procédé et dispositif de mesure de positionnement en navigation satellitaire et véhicule aérien sans pilote - Google Patents

Procédé et dispositif de mesure de positionnement en navigation satellitaire et véhicule aérien sans pilote Download PDF

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Publication number
WO2017066915A1
WO2017066915A1 PCT/CN2015/092243 CN2015092243W WO2017066915A1 WO 2017066915 A1 WO2017066915 A1 WO 2017066915A1 CN 2015092243 W CN2015092243 W CN 2015092243W WO 2017066915 A1 WO2017066915 A1 WO 2017066915A1
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antenna
carrier
antennas
ambiguity
double difference
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PCT/CN2015/092243
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English (en)
Chinese (zh)
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林灿龙
张伟
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2015/092243 priority Critical patent/WO2017066915A1/fr
Priority to CN201580060906.5A priority patent/CN107003386B/zh
Publication of WO2017066915A1 publication Critical patent/WO2017066915A1/fr

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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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • 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

Definitions

  • the invention relates to the field of satellite navigation technology, and in particular to a satellite navigation attitude measuring method and device and a drone.
  • the embodiment of the invention provides a satellite navigation attitude measuring method and device and a drone to improve the accuracy of the obtained attitude data, and to simplify the attitude measuring method and reduce the cost.
  • the carrier double difference is obtained, and the unit vector double difference of the antenna to the satellite is obtained based on the position of the ephemeris and the antenna;
  • the whole-circumference ambiguity is obtained based on the carrier double difference, the antenna-to-satellite unit vector double difference, and the baseline length between the two antennas;
  • the attitude angle is derived based on the position of the antenna and the baseline vector between the three antennas.
  • a second aspect of the present invention provides a satellite navigation apparatus for testing a posture of a drone, wherein the drone is provided with three antennas not on the same straight line, and the apparatus includes:
  • An acquisition module configured to obtain a raw observation of a satellite signal, an ephemeris, and a position of an antenna, the original observation including a carrier observation and a pseudorange observation;
  • a calculation module for deriving a unit vector between the antenna and the satellite according to the position of the ephemeris and the antenna; deriving a carrier double difference based on the carrier observation, and obtaining a unit vector double difference of the antenna to the satellite based on the position of the ephemeris and the antenna;
  • the whole-circumference ambiguity is obtained based on the carrier double difference, the antenna-to-satellite unit vector double difference, and the baseline length between the two antennas; based on the whole-circumference ambiguity, the antenna-to-satellite unit vector double difference, and the carrier double difference
  • a baseline vector between the three antennas; the attitude angle is derived based on the position of the antenna and the baseline vector between the three antennas.
  • a third aspect of the present invention provides a drone, comprising: a body, at least three antennas disposed on the body and not on a same straight line, and the at least three antennas are respectively connected to at least three receivers, The at least three receivers are coupled to a flight control system, the flight control system for:
  • the position derives the unit vector between the antenna and the satellite; based on the carrier observation, the carrier double difference is obtained, and the unit vector double difference of the antenna to the satellite is obtained based on the position of the ephemeris and the antenna; the unit vector based on the carrier double difference and the antenna to the satellite Double-difference and baseline length between two antennas to obtain full-circumference ambiguity; base vector between three antennas based on the whole-circumference ambiguity, antenna-to-satellite unit vector double difference, and carrier double difference; The position and the baseline vector between the three antennas yield the attitude angle.
  • the satellite navigation attitude measurement method uses data such as carrier double difference obtained from satellite signals to solve the whole-circumference ambiguity and the baseline vector between the antennas, and calculates the attitude angle according to the baseline vector.
  • data such as carrier double difference obtained from satellite signals to solve the whole-circumference ambiguity and the baseline vector between the antennas, and calculates the attitude angle according to the baseline vector.
  • the satellite signal is used to test the attitude of the drone.
  • the accuracy of the attitude data is improved, and the problems of the magnetic declination and magnetic field interference of the compass pointing are avoided.
  • the least squares search method based on the baseline distance constraint is used to solve the whole-circumference ambiguity.
  • the single-frequency receiver which is lower than the dual-frequency receiver used in the prior art.
  • the calculation method is simplified and the computational complexity is reduced.
  • FIG. 1 is a flowchart of a satellite navigation attitude measurement method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram showing the relationship between a baseline vector and a satellite distance
  • Figure 3 is a schematic diagram of a drone and an antenna
  • the technical solution of the embodiment of the invention is applicable to various unmanned aerial vehicles, such as unmanned aerial vehicles, unmanned vehicles, etc., especially the navigation and attitude measurement of various small unmanned aerial vehicles.
  • the unmanned aerial vehicle may be a helicopter drone or a fixed-wing drone. Detailed description will be made below through specific embodiments.
  • the satellite navigation device may include an attitude solving processor for decomposing the attitude data of the drone according to the original observation of the acquired satellite signal, the ephemeris and the position of the antenna, and transmitting the attitude data to the flight control system.
  • the flight control system can control the drone flight based on the obtained attitude data.
  • the satellite navigation device can also be regarded as part of the flight control system.
  • the method of the embodiment of the present invention may be performed by the satellite navigation device, or by the posture
  • the state solver executes the processor.
  • the specific process of the satellite navigation attitude measurement method provided by the embodiment of the present invention may include:
  • the GPS receiver can acquire satellite pseudorange observations, carrier observations, and satellite ephemeris.
  • the satellite position can be calculated from the received ephemeris. As long as there are more than 4 satellite pseudoranges, the receiver's time, position and speed can be calculated. Therefore, the satellite navigation device can acquire the carrier observation value and the pseudorange observation value of the satellite signal, the position of the ephemeris and the antenna, and the time and speed of the receiver from the GPS receiver.
  • Satellite-related errors including satellite ephemeris error, satellite clock error, satellite antenna phase center deviation, and relativistic effect error
  • errors related to signal propagation including ionospheric delay error, tropospheric delay error, and signal multipath error;
  • the first type of error can only correct the relativistic effect error
  • the second type of error can repair part of the ionospheric delay error and partial tropospheric delay error
  • the third type of error is reduced by the hardware and software design of the receiver.
  • the error of single point positioning can only guarantee the accuracy within 10m.
  • the distance between two antennas installed by the drone will not exceed 10m.
  • the coordinates of the two antennas cannot be determined by single point positioning, and then the direction is calculated.
  • the carrier difference observation is a new combined observation obtained by deriving the carrier phase observations of the same frequency in a certain way.
  • the carrier phase double difference observation value is used, that is, the difference between the antennas is one time, the satellite related error and the signal propagation error can be eliminated, and the difference between the satellites can be eliminated, and the receiver clock difference can be eliminated.
  • the whole-circumference ambiguity can be obtained based on the carrier double difference, the antenna-to-satellite unit vector double difference, and the baseline length between the two antennas.
  • the full-circumference ambiguity is solved by a least squares search method with a baseline distance constraint. This method is suitable for short-range fixed-length baseline attitudes and can be used with single-frequency receivers. Compared to the use of dual-frequency receivers, the use of a single-frequency receiver can effectively reduce costs.
  • the least squares search method using a baseline distance constraint to solve the whole-circumference ambiguity may include: dividing the tracked satellite into a main star and a redundant star, where the main star includes Four, and one of the four main stars is used as a reference star, and the reference star has the highest elevation angle; constructing a double-difference equation of the reference star and other main stars to determine the double-difference ambiguity search range of the main star carrier double difference equation Calculating a possible solution of the baseline vector; constructing a carrier double difference equation of the reference star and the redundant star, and substituting the baseline vector possible solution into the redundant star carrier double difference equation to determine the double difference ambiguity of the redundant star; The double-difference ambiguity of the satellite determines the ambiguity of the whole week.
  • the baseline vector includes: a first baseline vector from a first antenna to a second antenna of the three antennas, and a second baseline vector of the first antenna to the third antenna; Deriving the attitude angle based on the position of the antenna and the baseline vector between the three antennas includes calculating a heading angle and a pitch of the drone based on the positions of the first antenna and the second antenna and the first baseline vector An angle of the drone of the drone is calculated based on the positions of the first and third antennas and the second baseline vector.
  • the method before the obtaining the original observation of the received satellite signal, the method further comprises: receiving, by the single frequency receiver, the satellite signal through the antenna.
  • the method further includes: fusing the obtained attitude angle and the inertial navigation data to obtain an optimized estimation of the attitude angle for performing the attitude control of the drone.
  • the drone further includes an inertial measurement device, the inertial navigation data being measured by the inertial measurement device.
  • the embodiment of the present invention discloses a satellite navigation attitude measurement method, which uses data such as carrier double difference obtained based on satellite signals to solve the whole-circumference ambiguity and the baseline vector between the antennas, and calculates the attitude angle according to the baseline vector.
  • the technical solution has achieved the following technical effects:
  • the least squares search method based on the baseline distance constraint is used to solve the whole-circumference ambiguity.
  • the single-frequency receiver which is lower than the dual-frequency receiver used in the prior art.
  • the calculation method is simplified and the computational complexity is reduced.
  • the unit vector between antenna 1 and satellite k is The unit vector between antenna 2 and satellite k is For the distance from antenna 1 to satellite k minus the distance from antenna 2 to satellite k, b is the vector between the two antennas.
  • the distance between the two antennas is less than 40Km, it is much smaller than the distance from the antenna to the satellite (about 20000Km). It can be considered then
  • Equation 1 Equation 1 can be rewritten as
  • the reference star is set to j.
  • the frequency of the same frequency point is the same, and the frequency change caused by Doppler influence is negligible, then the double difference observation model can be expressed as
  • y is the double difference observation, which can be obtained based on the original observation
  • a is the whole week ambiguity
  • e is the noise
  • a and B can be understood as the coefficient matrix, specifically, A is the ambiguity weight matrix.
  • the main part of the noise e is the observation error.
  • the tracking loop When the tracking loop is stable, it can be considered to be less than 1 mm, and it is unbiased white noise, and can be taken as 0 in the calculation.
  • each element in the vector a When the receiver keeps continuously observation of the satellite carrier, each element in the vector a is an integer and does not change with time and remains unchanged.
  • the key to solving equation (4) is to solve the whole-circumference ambiguity a. After solving a solution, the baseline vector b can be calculated with an error of millimeters.
  • the key to solving the carrier-phase double-difference equation is to determine the full-circumference ambiguity.
  • the installation position of the UAV antenna is fixed, and the baseline length is short, and the least square search method based on the baseline distance constraint is used to solve the whole-circumference ambiguity, which is suitable for the short-distance fixed-length baseline attitude measurement, and the single frequency can be used.
  • the least squares search method divides the observation satellite into four main stars and redundant stars, the four main stars include one reference star, and the other satellites construct a double difference equation with the reference star. After determining the ambiguity search range of the main star carrier phase double difference equation, the calculation base The line may be solved, and then substituted into the redundant star observation equation to determine the double-difference ambiguity of the redundant satellite.
  • the selection of the four main stars is very critical.
  • the reference star generally selects the satellite with the highest elevation angle, and the other three select satellites with a certain elevation angle and carrier-to-noise ratio, and the GDOP (Geometric Dilution Precision) value is small.
  • the baseline vector and the double difference ambiguity are unknown, and the rest are known quantities.
  • L is the lower triangular matrix and can be expressed as
  • This method is effective at short baselines, and the whole-circumference ambiguity is limited to the range of baseline limits, which is suitable for UAV attitude measurement.
  • the receiver receives the antenna signal, calculates the antenna position, and transmits the position information and the raw observation to the attitude solving processor.
  • the attitude calculation processor calculates the antenna 1 to antenna 2 vector, the antenna 1 to the antenna 3 vector based on the coordinates of the antenna 1, and finally calculates the heading angle, the elevation angle and the roll angle of the drone by the formula.
  • the attitude information can be used as the measurement information of the optimal estimation algorithm such as Kalman filter, and is combined with other attitude data such as inertial navigation to obtain the optimal estimation value of the attitude, and further improve the attitude estimation accuracy.
  • the calculated flight control data is transmitted to the flight control system.
  • the current global satellite navigation system includes Russia's GLONASS, China's Beidou, and Europe's GALILEO.
  • GPS Globalstar Satellite Navigation System
  • other satellite navigation systems can be used, or multiple satellite navigation systems can be used to implement the solution.
  • the embodiment of the present invention provides an implementation scheme of satellite navigation and attitude measurement on a drone, which improves the accuracy of flight attitude estimation, solves the magnetic field interference problem of the compass, and can be used for flight control of the drone.
  • the embodiment of the present invention uses a least squares search method with a baseline distance constraint to solve the whole-circumference ambiguity and carrier phase double difference equation, which is suitable for single-frequency and dual-frequency receivers, when using a single-frequency receiver It can effectively reduce the cost of the product, and at the same time simplify the calculation method and reduce the computational complexity.
  • a second embodiment of the present invention provides a satellite navigation device for testing a posture of a drone, and the drone is provided with three antennas that are not on the same straight line.
  • the number of antennas installed on the UAV can also be more than three, and more than three antennas can be used as redundancy, and can also participate in the attitude calculation processing.
  • the device can include:
  • the calculation module 520 is configured to obtain a unit vector between the antenna and the satellite according to the position of the ephemeris and the antenna; the carrier double difference is obtained based on the carrier observation, and the unit vector double difference of the antenna to the satellite is obtained based on the position of the ephemeris and the antenna ; based on carrier double difference, antenna-to-satellite unit vector double difference and baseline length between two antennas to obtain full-circumference ambiguity; based on the whole-circumference ambiguity, antenna-to-satellite unit vector double difference
  • the carrier double difference results in a baseline vector between the three antennas; the attitude angle is derived based on the position of the antenna and the baseline vector between the three antennas.
  • the calculating module 520 includes:
  • the ambiguity calculation unit is configured to solve the whole-circumference ambiguity by a least squares search method using a baseline distance constraint.
  • the ambiguity calculation unit is specifically configured to:
  • the tracked satellites are divided into a main star and a redundant star, the main star includes four, and one of the four main stars serves as a reference star, and the reference star has the highest elevation angle;
  • the full-circumference ambiguity is determined based on the double-difference ambiguity of all satellites.
  • the ambiguity calculation unit is further configured to:
  • the baseline vector includes: a first baseline vector from a first antenna to a second antenna of the three antennas, and a second baseline vector of the first antenna to the third antenna;
  • the calculation module 520 includes: an attitude data calculation unit, configured to calculate a heading angle and a pitch angle of the drone based on the positions of the first antenna and the second antenna and the first baseline vector; The position of the first antenna and the third antenna and the second baseline vector calculate the roll angle of the drone.
  • the apparatus further includes:
  • the fusion module 530 is configured to fuse the obtained attitude angle and the inertial navigation data to obtain an optimized estimation of the attitude angle for performing the attitude control of the drone.
  • a satellite navigation apparatus which is based on data such as carrier double difference obtained by satellite signals, and solves the whole-circumference ambiguity and the baseline between the antennas.
  • the vector, the technical solution for calculating the attitude angle from the baseline vector, achieves the following technical effects:
  • the satellite signal is used to test the attitude of the drone.
  • the accuracy of the attitude data is improved, and the problems of the magnetic declination and magnetic field interference of the compass pointing are avoided.
  • the least squares search method based on the baseline distance constraint is used to solve the whole-circumference ambiguity.
  • it is suitable for the single-frequency receiver, compared with the dual-frequency receiver used in the prior art. Reduced costs; on the other hand, simplified calculation methods and reduced computational complexity.
  • the flight control system is used to:
  • the position derives the unit vector between the antenna and the satellite; based on the carrier observation, the carrier double difference is obtained, and the unit vector double difference of the antenna to the satellite is obtained based on the position of the ephemeris and the antenna; the unit vector based on the carrier double difference and the antenna to the satellite Double-difference and baseline length between two antennas to obtain full-circumference ambiguity; base vector between three antennas based on the whole-circumference ambiguity, antenna-to-satellite unit vector double difference, and carrier double difference; The position and the baseline vector between the three antennas yield the attitude angle.
  • the drone can also include a power system and an electrical system.
  • the drone is a fixed wing drone, a helicopter drone, or an unmanned vehicle.
  • the airframe includes a central portion, an arm on both sides of the central portion, a nose and a tail; three antennas are respectively disposed on the nose and the machine Tail and one arm.
  • the flight control system is further specifically configured to:
  • the tracked satellites are divided into a main star and a redundant star, the main star includes four, and one of the four main stars serves as a reference star, and the reference star has the highest elevation angle;
  • the full-circumference ambiguity is determined based on the double-difference ambiguity of all satellites.
  • the flight control system is further configured to: substitute the double-difference ambiguity of all satellites into the medium-carrier double-difference equation, calculate the sum of squared residuals of the equation, and minimize the residual in all possible solutions.
  • the whole-circumference ambiguity corresponding to the difference square sum is taken as the solution to be determined.
  • multiple epochs obtain the same to-be-determined solution, it is confirmed that the to-be-determined solution is a fixed solution.
  • the baseline vector includes: a first baseline vector from a first antenna to a second antenna of the three antennas, and a second baseline vector of the first antenna to the third antenna;
  • the flight control system is further configured to calculate a heading angle and a pitch angle of the drone based on the positions of the first antenna and the second antenna and the first baseline vector; based on the first antenna and the third The position of the antenna and the second baseline vector calculate the roll angle of the drone.
  • the flight control system is further configured to receive satellite signals through the antenna using a single frequency receiver.
  • the flight control system is configured to fuse the derived attitude angle and the inertial navigation data to obtain an optimized estimate of the attitude angle for performing the attitude control of the drone.
  • the drone further includes an inertial measurement device, the inertial navigation data being measured by the inertial measurement device.
  • the least squares search method based on the baseline distance constraint is used to solve the whole-circumference ambiguity.
  • it is suitable for the single-frequency receiver, compared with the dual-frequency receiver used in the prior art. Reduced costs; on the other hand, simplified calculation methods and reduced computational complexity.
  • the fifth embodiment of the present invention further provides a processor for testing the posture of the drone, wherein the drone is provided with three antennas not on the same straight line, and the processor can perform the following steps:
  • the carrier double difference is obtained, and the unit vector double difference of the antenna to the satellite is obtained based on the position of the ephemeris and the antenna;
  • the attitude angle is derived based on the position of the antenna and the baseline vector between the three antennas.
  • the processor is further configured to: solve the whole-circumference ambiguity by a least squares search method with a baseline distance constraint.
  • the processor is further configured to:
  • the tracked satellites are divided into a main star and a redundant star, the main star includes four, and one of the four main stars serves as a reference star, and the reference star has the highest elevation angle;
  • the full-circumference ambiguity is determined based on the double-difference ambiguity of all satellites.
  • the processor is further configured to:
  • the baseline vector includes: a first baseline vector from a first antenna to a second antenna of the three antennas, and a second baseline vector of the first antenna to the third antenna;
  • the processor is further configured to: calculate a heading angle and a pitch angle of the drone based on the positions of the first antenna and the second antenna and the first baseline vector; based on the first antenna and the third The position of the antenna and the second baseline vector calculate the roll angle of the drone.
  • the processor is further configured to: fuse the obtained attitude angle and the inertial navigation data to obtain an optimized estimation of the attitude angle, and perform the attitude control of the drone.
  • a sixth embodiment of the present invention further provides a computer storage medium, wherein the computer storage medium can store a program, and the program includes some or all of the steps of the satellite navigation attitude measurement method described in the foregoing method embodiments.
  • the program may be stored in a computer readable storage medium, and the storage medium may include: ROM, RAM, disk or CD.

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Abstract

La présente invention concerne un procédé et un dispositif de mesure de positionnement en navigation satellitaire et un véhicule aérien sans pilote, qui sont utilisés pour améliorer la précision de données de positionnement obtenues et simplifier le procédé de mesure de positionnement. Le procédé comprend : l'obtention d'observations originales d'un signal satellitaire, une éphéméride et la position d'une antenne, les observations originales comprenant une valeur d'observation de porteuse et une valeur d'observation de pseudo-distance (110) ; en fonction de l'éphéméride et de la position de l'antenne, l'obtention d'un vecteur unitaire de l'antenne vers un satellite ; l'obtention d'une double différence de porteuse sur la base de la valeur d'observation de porteuse, et l'obtention d'une double différence de vecteur unitaire de l'antenne vers le satellite sur la base de l'éphéméride et de la position de l'antenne (120) ; la résolution d'une ambiguïté entière sur la base de la double différence de porteuse, la double différence de vecteur unitaire de l'antenne vers le satellite, et la longueur de ligne de base entre deux antennes (130) ; l'obtention d'un vecteur de ligne de base entre trois antennes sur la base de l'ambiguïté entière, la double différence de vecteur unitaire de l'antenne vers le satellite et la double différence de porteuse (140) ; et l'obtention d'un angle de positionnement sur la base de la position de l'antenne et du vecteur de ligne de base entre les trois antennes (150).
PCT/CN2015/092243 2015-10-20 2015-10-20 Procédé et dispositif de mesure de positionnement en navigation satellitaire et véhicule aérien sans pilote WO2017066915A1 (fr)

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