WO2024016922A1 - 基于gnss差分的航天器相对位置测量方法及其装置 - Google Patents

基于gnss差分的航天器相对位置测量方法及其装置 Download PDF

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WO2024016922A1
WO2024016922A1 PCT/CN2023/100990 CN2023100990W WO2024016922A1 WO 2024016922 A1 WO2024016922 A1 WO 2024016922A1 CN 2023100990 W CN2023100990 W CN 2023100990W WO 2024016922 A1 WO2024016922 A1 WO 2024016922A1
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integer
integer ambiguity
checked
ambiguity
difference
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PCT/CN2023/100990
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English (en)
French (fr)
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王兆魁
蔡映凯
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清华大学
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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
    • G01S19/42—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

Definitions

  • the present application belongs to the field of aviation technology, and in particular relates to a spacecraft relative position measurement method and device based on GNSS differential.
  • Satellite formation flight is a typical working method of distributed aerospace systems, in which real-time and accurate relative position measurement is the input condition for formation control, which is to maintain and reconstruct the formation configuration to avoid collisions and ensure safety.
  • GNSS Global Navigation Satellite System
  • Embodiments of the present application provide a spacecraft relative position measurement method and device based on GNSS differential to solve the technical problem that existing relative position measurement methods cannot simultaneously meet the real-time and high-precision requirements of spacecraft relative position measurement.
  • embodiments of the present application provide a method for measuring the relative position of a spacecraft based on GNSS differential.
  • the method includes:
  • a first integer ambiguity is determined from the N first integer ambiguities to be checked, and a second integer ambiguity is determined from the M second integer ambiguities to be checked. Both the circumferential ambiguity and the second integer ambiguity satisfy the preset integer ambiguity conditions;
  • the shortwave double-difference integer ambiguity is determined to measure the relative position of the spacecraft.
  • inventions of the present application provide a spacecraft relative position measurement device based on GNSS differential.
  • the device includes:
  • the acquisition module is used to acquire the first long-wave observation combination and the second long-wave observation combination
  • the first determination module is used to perform a double-difference integer ambiguity search based on the preset pseudo-range double-difference linear equation and the preset carrier double-difference equation, and determine the N first integers to be checked for the first long-wave observation combination.
  • the circumferential ambiguity and the M second integer ambiguities to be checked for the second long-wave observation combination, N and M are integers greater than 1;
  • a second determination module configured to determine a first integer ambiguity from the N first integer ambiguities to be checked, and to determine a second integer ambiguity from the M second integer ambiguities to be checked. Degree, the first integer ambiguity and the second integer ambiguity both satisfy the preset integer ambiguity condition;
  • a measurement module configured to determine the shortwave double-difference integer ambiguity according to the first integer ambiguity and the second integer ambiguity to measure the relative position of the spacecraft.
  • embodiments of the present application provide an electronic device, which includes:
  • the above method is implemented when the processor executes the program or instruction.
  • embodiments of the present application provide a readable storage medium. Programs or instructions are stored on the readable storage medium. When the programs or instructions are executed by a processor, the above method is implemented.
  • embodiments of the present application provide a computer program product.
  • the electronic device executes the above method.
  • the spacecraft relative position measurement method and device based on GNSS differential in the embodiment of the present application can obtain the first long-wave observation combination and the second long-wave observation combination; according to the preset pseudo-range double difference line Conduct a double-difference integer ambiguity search using the linear equation and the preset carrier double-difference equation to determine the N first integer ambiguities to be checked for the first long-wave observation combination and the M second integer ambiguities to be checked for the second long-wave observation combination. Weekly ambiguity; determine the first and second integer ambiguities that meet the preset integer ambiguity conditions from the N first integer ambiguities to be checked and the M second integer ambiguities to be checked.
  • the search space of integer ambiguity reduces the search workload, compresses the solution time, and can obtain the shortwave double-difference integer ambiguity to accurately measure the relative position of the spacecraft. Therefore, it can meet the real-time and high performance of relative position measurement of the spacecraft at the same time. Accuracy requirements.
  • Figure 1 is a schematic flow chart of a spacecraft relative position measurement method based on GNSS differential provided by an embodiment of the present application
  • Figure 2 is a flow chart of a scenario embodiment of the spacecraft relative position measurement method based on GNSS differential provided by the embodiment of the present application;
  • Figure 3 shows the baseline length accuracy based on fixed long-wavelength double-difference integer ambiguity
  • Figure 4 shows the baseline component accuracy based on fixed long-wavelength double-difference integer ambiguity
  • Figure 5 is a schematic structural diagram of a spacecraft relative position measurement device based on GNSS differential provided by another embodiment of the present application.
  • Figure 6 is a schematic structural diagram of an electronic device provided by another embodiment of the present application.
  • embodiments of the present application provide a spacecraft relative position measurement method and device based on Global Navigation Satellite System (Global Navigation Satellite System, GNSS) differential.
  • GNSS Global Navigation Satellite System
  • Figure 1 shows a schematic flow chart of a spacecraft relative position measurement method based on GNSS differential provided by an embodiment of the present application.
  • the spacecraft relative position measurement method based on GNSS differential can include the following steps:
  • Step 101 Obtain the first long-wave observation combination and the second long-wave observation combination
  • Step 102 Perform a double-difference integer ambiguity search based on the preset pseudorange double-difference linear equation and the preset carrier double-difference equation to determine the N first integer ambiguities to be tested and the second integer ambiguities of the first long-wave observation combination.
  • the M second integer ambiguities to be checked for the long-wave observation combination, N and M are integers greater than 1;
  • Step 103 Determine the first integer ambiguity from the N first integer ambiguities to be checked, and determine the second integer ambiguity from the M second integer ambiguities to be checked.
  • the first integer ambiguity is and the second integer ambiguity both meet the preset integer ambiguity conditions;
  • Step 104 Determine the shortwave double-difference integer ambiguity based on the first integer ambiguity and the second integer ambiguity to measure the relative position of the spacecraft.
  • the spacecraft relative position measurement method based on GNSS difference can obtain the first long-wave observation combination and the second long-wave observation combination; based on the preset pseudo-range double difference linear equation and the preset carrier double difference equation.
  • Double-difference integer ambiguity search determines the N first integer ambiguities to be checked for the first long-wave observation combination and the M second integer ambiguities to be checked for the second long-wave observation combination; from the N first to-be-detected ambiguities
  • the first integer ambiguity and the second integer ambiguity that meet the preset integer ambiguity conditions are respectively determined from the integer ambiguities and the M second integer ambiguities to be checked; and based on the first integer ambiguities and
  • the second integer ambiguity determines the shortwave double-difference integer ambiguity to measure the relative position of the spacecraft.
  • GNSS multiple frequency observations provided by GNSS can be used to expand the carrier wavelength through linear combination, and search for the integer ambiguity of the first long-wave observation combination and the second long-wave observation combination after expanding the carrier wavelength, so that sparsification can be achieved
  • the search space of integer ambiguity reduces the search workload, compresses the solution time, and can obtain the shortwave double-difference integer ambiguity to accurately measure the relative position of the spacecraft. Therefore, it can meet the real-time and high performance of relative position measurement of the spacecraft at the same time. Accuracy requirements.
  • the pseudorange double-difference linear equation and the carrier double-difference equation can be established in advance.
  • the pseudo-range observation equation expression can be as shown in formula (1):
  • the distance between receiver A and navigation satellite i The expression of can be shown as formula (2):
  • the expression of the carrier phase observation equation can be as shown in formula (3):
  • ⁇ 1 and ⁇ 2 are the carrier wavelengths; It can represent the distance between receiver A and navigation satellite i; is the deviation of receiver A clock relative to the GPS standard time, c is the speed of light in vacuum; ⁇ p i is the ephemeris error of navigation satellite i; is the measurement deviation caused by the ionosphere on the signal propagation path; is the measurement deviation caused by the troposphere on the signal propagation path; It is the measurement deviation caused by multipath effect on the signal propagation path; is the deviation caused by the earth's rotation effect; ⁇ A is the local measurement noise of receiver A.
  • the approximate solution point Can be obtained through single point positioning method. It is understandable that the current three-axis error of the GPS single-point positioning algorithm can be controlled within 10m. In order to reduce the amount of calculation and save computing power, high-order terms can be ignored and only constant terms and linear terms are considered. It can also be understood that for a baseline within 10km, the directional cosine deviation of the same navigation star observed at both end points of the baseline is within 5e -4 , and the impact on the baseline correction is not greater than 5mm. Here, the directional cosine of different endpoints can be approximated After processing, we get formula (6):
  • the carrier phase single difference equation can be expressed as formula (9):
  • inter-satellite differences can be performed on the same reference star S j to obtain the pseudorange double-difference linear equation and the carrier double-difference equation, which can further eliminate the clock error of the receiver. .
  • y ⁇ is the pseudorange constant term
  • E is the direction cosine matrix
  • ⁇ b is the baseline length
  • ⁇ ⁇ is the pseudorange error term.
  • the carrier double difference equation can be recorded as formula (13):
  • ⁇ is the carrier constant term
  • ⁇ is the carrier wavelength
  • E is the direction cosine matrix
  • ⁇ b is the baseline length
  • ⁇ ⁇ is the carrier error term.
  • the first long-wave observation combination and the second long-wave observation combination can be obtained. It can be understood that in high-precision baseline measurements, accurate integer ambiguity can be obtained by Take measurements. Using multiple frequency observations provided by GNSS, the carrier wavelength can be expanded through linear combination to sparse the search space of integer ambiguity, which can reduce the search workload and compress the solution time. Therefore, the first long-wave observation combination and the second long-wave observation combination can be obtained after linear combination. It can be understood that in order to solve the subsequent short-wave double-difference integer ambiguity, there is a need between the first long-wave observation combination and the second long-wave observation combination. satisfy the non-linear relationship.
  • the combination coefficients ⁇ and ⁇ of the first long-wave observation combination and the second long-wave observation combination need to be integers, where the wavelength of the combination equation can be expressed as formula (14):
  • the linear combination amplifies the noise of a single observation equation, so the first long-wave observation combination and the second long-wave observation combination can only be used to search and determine the whole-circuit ambiguity, and the final baseline solution can be based on the first long-wave observation combination
  • the shortwave double-difference integer ambiguity determined by the first integer ambiguity of the combination of the second long-wave observation and the second integer ambiguity of the second long-wave observation combination can be used to perform a more accurate baseline solution, thereby more accurately measuring the relative position of the spacecraft.
  • the first combination of longwave observations may be
  • the second longwave observation combination can be Based on formula (13) and formula (14), it can be seen that,
  • the corresponding long wave measurement equation can be formula (17):
  • the corresponding long wave measurement equation can be formula (18):
  • Double-difference integer ambiguity search can be performed based on the above-mentioned pre-established pseudorange double-difference linear equation and carrier double-difference equation to determine the first long-wave observation combination (such as ) of multiple first integer ambiguities to be checked, and the second long-wave observation combination (such as ) of multiple second integer ambiguities to be checked.
  • each long-wave observation combination can be searched to obtain multiple integer ambiguities to be checked, and the only correct integer ambiguity that meets the preset integer ambiguity conditions can be determined from the multiple integer ambiguities to be checked. , to ensure search accuracy for the full range of ambiguities.
  • the preset integer ambiguity condition can be that the channel residual corresponding to the integer ambiguity is located in the preset residual interval, or it can be that the sum of squares of the residuals corresponding to the integer ambiguity satisfies the preset relationship, etc. There is no specific limit here. , which can be set according to the actual situation.
  • the relative position of the spacecraft can be measured based on the shortwave double-difference integer ambiguity. For example, the distance between receiver A and the navigation satellite can be determined based on the shortwave double-difference integer ambiguity between the receiver A and the navigation satellite, and then the distance between the receiver A and multiple navigation satellites can be determined , determine the position of receiver A. In the same way, the position of receiver B can be determined, and then the relative positions of receiver A and receiver B can be measured based on the positions of receiver A and receiver B.
  • the above step 102 may include the following steps:
  • the initial solution point and ephemeris solution are obtained based on pseudo-range single point positioning, and the position coordinates between each navigation satellite and the receiver among P navigation satellites are obtained, where P is greater than 1 integer;
  • each navigation satellite determine the prior variance of the observation values, as well as the reference navigation satellite;
  • the covariance matrix of the prior variance is obtained
  • the observation weight matrix is obtained
  • the first baseline vector, the first channel residual and the weighted variance are solved to determine the first search interval
  • a double-difference integer ambiguity search is performed within the first search interval to determine the N first to-be-checked integer ambiguities of the first long-wave observation combination and the M second to-be-checked ambiguities of the second long-wave observation combination. Check the circumferential ambiguity.
  • GNSS after GNSS receives the original observation data, it can obtain the initial solution point and ephemeris solution based on pseudo-range single-point positioning, obtain the position coordinates between different navigation satellites and receivers, and then calculate each satellite.
  • the altitude angle of the navigation satellite It is understandable that the smaller the altitude angle, the worse the quality of observation data.
  • Data weighting can be used to assign higher weights to the observation data of navigation satellites with large altitude angles. In this way, low-precision data can be reduced through weighting of observation values.
  • an improved sine function model based on altitude angle is used to describe the impact of altitude angle on carrier observation quality, and the prior variance of observation values is calculated.
  • the prior variance of observation values can be expressed as formula (21) Show:
  • the navigation satellite with the highest altitude angle can be set as the reference star. If the reference star of the prior variance equation is S r and S 1,2,..k are non-reference stars, then the covariance matrix of the prior variance equation can be as follows: formula (22 ) as shown:
  • the observation weight matrix can be obtained based on the covariance matrix.
  • the low-precision first baseline vector can be solved by the least squares method based on the observation weight matrix and the pseudorange double-difference linear equation.
  • the covariance matrix of the baseline vector can be:
  • a double-difference integer ambiguity search can be performed within the first search interval to determine the N first integer ambiguities to be tested for the first long-wave observation combination and the M second second long-wave observation combinations. The whole week ambiguity is to be checked.
  • the first search interval can be determined through the obtained first baseline vector, first channel residual and weighted variance, and the search range of integer ambiguity can be limited to a relatively small range in advance, so that It can further reduce the search workload, compress the solution time and improve the real-time performance.
  • the search interval can be expanded based on the first search interval to obtain the second search interval, and according to the carrier double difference equation, in A double-difference integer ambiguity search is performed within the second search interval.
  • the N second channel residuals corresponding to the N first integer ambiguities to be checked are all located in the preset residual screening interval.
  • the first long-wave observation combination can be
  • the second longwave observation combination can be For example.
  • the residual screening interval in advance, where the residual screening interval can be (-4 ⁇ , 4 ⁇ ) to exclude the first long-wave observation combination
  • the second channel residual is outside ⁇ 4 ⁇ of the first integer ambiguity to be checked. In this way, the search space for whole-week ambiguity can be further reduced.
  • the second longwave observation combination The error magnification is high.
  • the preset filtering may filter out the correct integer ambiguity, and the second long-wave observation combination
  • the wavelength can reach 1.68m, and its search space is relative to the first long-wave observation combination is more sparse and therefore does not combine the second longwave observations
  • the ambiguity of the second whole week to be checked is filtered.
  • the above step 103 may include the following steps:
  • the target integer ambiguity to be inspected corresponding to the minimum residual sum of squares is determined as the target integer ambiguity
  • the integer ambiguities of the Q targets to be checked are the N first integer ambiguities to be checked, the integer ambiguities of the targets are the first integer ambiguities; when the integer ambiguities of the Q targets to be checked are When there are M second integer ambiguities to be checked, the target integer ambiguity is the second integer ambiguity.
  • the residual sum of squares corresponding to the target integer ambiguity to be checked can be:
  • the target integer ambiguity to be checked corresponding to the minimum sum of squares of residuals can be determined as the correct target integer ambiguity.
  • the spacecraft relative position measurement method based on GNSS difference may also include the following steps:
  • the Q residual sums of squares are sorted from small to large;
  • the target integer ambiguity to be checked corresponding to the minimum residual sum of squares is determined as the target integer ambiguity , k is an integer greater than 1 and k is less than or equal to Q.
  • the second ratio test can be performed.
  • the residual sums of squares can be sorted from small to large Take out the first k corresponding integer ambiguities N L( ⁇ , ⁇ )1 ⁇ k to satisfy:
  • the k value can be set according to the actual situation and is not specifically limited here.
  • the target integer ambiguity to be checked corresponding to the minimum residual sum of squares can be determined as the correct target integer. Weekly ambiguity.
  • the target integer ambiguity to be checked fails the two ratio tests, it can mean that the target integer ambiguity to be checked does not contain the correct solution.
  • the search interval can be expanded and the corresponding to be checked can be re-determined. The ambiguity is rounded and the ratio test is done again until it passes.
  • the above step 104 may include the following steps:
  • the first integer ambiguity and the second integer ambiguity determine the shortwave double-difference integer ambiguity to be checked, and the third channel residual corresponding to the shortwave double-difference integer ambiguity to be checked;
  • the shortwave double-difference integer ambiguity to be detected is determined to be the shortwave double-difference integer ambiguity
  • the relative position of the spacecraft is measured.
  • the shortwave double difference can be determined based on the first and second integer ambiguities.
  • the preset residual detection interval can be set according to the actual situation.
  • the third channel residual can be There is no combined channel residual, and the preset residual detection interval can be (-3 ⁇ ,3 ⁇ ).
  • the search interval can be expanded and the integer ambiguity search can be performed again. , until the correct shortwave double-difference integer ambiguity is finally obtained to measure the relative position of the spacecraft.
  • Figure 2 shows a flow chart of a scenario embodiment of the above-mentioned GNSS differential-based spacecraft relative position measurement method.
  • the first long-wave observation combination can be
  • the second longwave observation combination can be For example.
  • GNSS After GNSS receives the original observation data, it can obtain the initial solution point and ephemeris solution based on pseudo-range single-point positioning, obtain the position coordinates between different navigation satellites and receivers, and then calculate the altitude angle of each navigation satellite. Then the observation values are weighted according to the altitude angle to determine the prior variance of the observation values. According to the reference navigation satellite with the largest prior variance and altitude angle, the covariance matrix of the prior variance is obtained, and the observation weight matrix is obtained based on the covariance matrix.
  • the first baseline vector, the first channel residual and the weighted variance can be solved to determine the first search interval, and according to the carrier double difference Equation, perform a double-difference integer ambiguity search within the first search interval to determine and A test set of integer unknowns (i.e. N first integer ambiguities to be checked and M second integer ambiguities to be checked).
  • a ratio test is performed on the integer unknown test set. If it passes, its respective correct integer ambiguity can be determined. If it fails, a second ratio test is required. If the quadratic ratio test passes, the correct integer ambiguity can be determined. If it still fails, the test threshold can be increased and the group to be tested can be expanded (that is, the search interval can be expanded based on the first search interval, Obtain the second search interval, and re-perform the double-difference integer ambiguity search within the second search interval) until the and Respectively correct integer blur.
  • the shortwave double-difference integer ambiguity to be checked is obtained, and its corresponding There is no combined channel residual (i.e. third channel residual), if If the residual of the uncombined channel is located at (-3 ⁇ , 3 ⁇ ) (that is, the preset residual detection interval), then the shortwave double differential can be determined The integer ambiguity is checked as the shortwave double-difference integer ambiguity, and the precise baseline can be determined at this time.
  • the test threshold can be increased and the group to be tested can be expanded (that is, the search interval can be expanded based on the first search interval to obtain the second search interval, and in the second Repeat the double-difference integer ambiguity search within the search interval) until The uncombined channel residual is located at (-3 ⁇ ,3 ⁇ ).
  • the The uncombined channel residuals are updated to the first channel residuals.
  • the updated channel residuals can be used as the basis of the search interval to further reduce the search workload and improve real-time performance.
  • the spacecraft relative position measurement method based on GNSS differential in this scenario embodiment can be verified through a relative position measurement test.
  • the real-time precision baseline and three-axis components are shown in Figure 3 and Figure 4. It can be seen that the baseline vector is stable at the centimeter level, effectively meeting the requirements meets the high-precision requirements for spacecraft relative position measurement.
  • this application also provides an embodiment of a spacecraft relative position measurement device based on GNSS differential.
  • Figure 5 shows a schematic structural diagram of a spacecraft relative position measurement device based on GNSS differential provided by another embodiment of the present application. For convenience of explanation, only the parts related to the embodiment of the present application are shown.
  • the spacecraft relative position measurement device 500 based on GNSS differential may include:
  • the acquisition module 501 is used to acquire the first long-wave observation combination and the second long-wave observation combination;
  • the first determination module 502 is used to perform a double-difference integer ambiguity search based on the preset pseudo-range double-difference linear equation and the preset carrier double-difference equation, and determine the N first integers to be detected of the first long-wave observation combination.
  • the ambiguity and the second long-wave observation combination of M second integer ambiguities to be checked, N and M are integers greater than 1;
  • the second determination module 503 is used to determine the first integer ambiguities from the N first integer ambiguities to be checked, and determine the second integer ambiguities from the M second integer ambiguities to be checked. Both the whole-circle ambiguity and the second whole-circle ambiguity satisfy the preset whole-circle ambiguity conditions;
  • the measurement module 504 is used to determine the shortwave double-difference integer ambiguity based on the first integer ambiguity and the second integer ambiguity to measure the relative position of the spacecraft.
  • the above-mentioned first determining module 502 can also be used to:
  • the initial solution point and ephemeris solution are obtained based on pseudo-range single point positioning, and the position coordinates between each navigation satellite and the receiver among P navigation satellites are obtained, where P is greater than 1 integer;
  • each navigation satellite determine the prior variance of the observation values, as well as the reference navigation satellite;
  • the covariance matrix of the prior variance is obtained
  • the observation weight matrix is obtained
  • the first baseline vector, the first channel residual and the weighted variance are solved to determine the first search interval
  • a double-difference integer ambiguity search is performed within the first search interval to determine the N first to-be-checked integer ambiguities of the first long-wave observation combination and the M second to-be-checked ambiguities of the second long-wave observation combination. Check the circumferential ambiguity.
  • the first long-wave observation combination is The second longwave observation combination is
  • the N second channel residuals corresponding to the N first integer ambiguities to be checked are all located in the preset residual screening interval.
  • the above-mentioned second determination module 503 can also be used to:
  • the target integer ambiguity to be inspected corresponding to the minimum residual sum of squares is determined as the target integer ambiguity
  • the integer ambiguity of the Q targets to be inspected is the ambiguity of the N first integer weeks to be inspected
  • the integer ambiguity of the target is the first integer ambiguity
  • the integer ambiguities of the Q targets to be inspected are When the degree is M second integer ambiguities to be checked, the target integer ambiguity is the second integer ambiguity.
  • the spacecraft relative position measurement device 500 based on GNSS differential may also include a verification module, which may be used for:
  • the target integer ambiguity to be checked corresponding to the minimum residual sum of squares is determined as the target integer ambiguity , k is an integer greater than 1 and k is less than or equal to Q.
  • the above-mentioned measurement module 504 can also be used to:
  • the first integer ambiguity and the second integer ambiguity determine the shortwave double-difference integer ambiguity to be checked, and the third channel residual corresponding to the shortwave double-difference integer ambiguity to be checked;
  • the shortwave double-difference integer ambiguity to be detected is determined to be the shortwave double-difference integer ambiguity
  • the relative position of the spacecraft is measured.
  • the information exchange, execution process, etc. between the above-mentioned devices/units are based on the same concept as the method embodiments of the present application, and are devices corresponding to the above-mentioned GNSS differential-based spacecraft relative position measurement method.
  • the above-mentioned method is implemented All implementation methods in the examples are applicable to the embodiments of the device. For specific functions and technical effects, please refer to the method embodiments section and will not be described again here.
  • Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above.
  • Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units.
  • the specific names of each functional unit and module are only for the convenience of distinguishing each other and are not used to limit the scope of protection of the present application.
  • For the specific working processes of the units and modules in the above system please refer to the corresponding processes in the foregoing method embodiments, and will not be described again here.
  • Figure 6 shows a schematic diagram of the hardware structure of an electronic device provided by yet another embodiment of the present application.
  • the device may include a processor 601 and a memory 602 storing programs or instructions.
  • the program can be divided into one or more modules/units, one or more modules
  • the blocks/units are stored in memory 602 and executed by processor 601 to complete the application.
  • One or more modules/units may be a series of program instruction segments capable of completing a specific function. The instruction segment is used to describe the execution process of the program in the device.
  • processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits according to the embodiments of the present application.
  • CPU central processing unit
  • ASIC Application Specific Integrated Circuit
  • Memory 602 may include bulk storage for data or instructions.
  • memory 602 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (USB) drive or two or more A combination of many of the above.
  • Memory 602 may include removable or non-removable (or fixed) media, where appropriate. Where appropriate, the memory 602 may be internal or external to the integrated gateway disaster recovery device. In certain embodiments, memory 602 is non-volatile solid-state memory.
  • Memory may include read only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical/tangible memory storage devices.
  • ROM read only memory
  • RAM random access memory
  • magnetic disk storage media devices e.g., magnetic disks
  • optical storage media devices e.g., magnetic disks
  • flash memory devices e.g., electrical, optical or other physical/tangible memory storage devices.
  • memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processor), which is operable to perform the operations described with reference to a method according to an aspect of the present disclosure.
  • the processor 601 reads and executes the programs or instructions stored in the memory 602 to implement any of the methods in the above embodiments.
  • the electronic device may also include a communication interface 603 and a bus 604.
  • the processor 601, the memory 602, and the communication interface 603 are connected through the bus 604 and complete communication with each other.
  • the communication interface 603 is mainly used to implement communication between modules, devices, units and/or equipment in the embodiments of this application.
  • Bus 604 includes hardware, software, or both, coupling the components of the online data traffic metering device to each other.
  • the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a front-side bus (FSB), HyperTransport (HT) interconnect, Industry Standard Architecture (ISA) bus, Infinite Bandwidth Interconnect, Low Pin Count (LPC) bus, Memory bus, Micro Channel Architecture (MCA) bus, Peripheral Component Interconnect (PCI) bus, PCI- Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local (VLB) bus or other suitable bus or a combination of two or more of these.
  • bus 404 may include one or more buses.
  • the embodiment of the present application can provide a readable storage medium for implementation.
  • the readable storage medium stores programs or instructions; when the program or instructions are executed by the processor, any one of the methods in the above embodiments is implemented.
  • the readable storage medium can be read by a machine such as a computer.
  • An embodiment of the present application further provides a chip.
  • the chip includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement various processes of the above method embodiments. , and can achieve the same technical effect, so to avoid repetition, they will not be described again here.
  • chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-a-chip or system-on-chip, etc.
  • Embodiments of the present application provide a computer program product.
  • the program product is stored in a readable storage medium.
  • the program product is executed by at least one processor to implement each process of the above method embodiment and can achieve the same technical effect. , to avoid repetition, will not be repeated here.
  • the functional modules shown in the above structural block diagram can be implemented as hardware, software, firmware or a combination thereof.
  • it may be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, or the like.
  • ASIC application specific integrated circuit
  • elements of the application are programs or code segments that are used to perform the required tasks.
  • Programs or code segments may be stored in a machine-readable medium or transmitted via a data signal carried in a carrier wave in a transmission medium or transmitted over the communication link.
  • "Machine-readable medium” may include any medium capable of storing or transmitting information.
  • machine-readable media examples include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and the like.
  • Code segments may be downloaded via a computer grid such as the Internet, an intranet, and the like.
  • Such a processor may be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It will also be understood that each block in the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can also be implemented by special purpose hardware that performs the specified functions or actions, or can be implemented by special purpose hardware and A combination of computer instructions.

Abstract

一种基于GNSS差分的航天器相对位置测量方法及其装置。方法包括获取第一长波观测组合和第二长波观测组合；根据伪距双差线性方程和载波双差方程进行双差整周模糊度搜索，确定第一长波观测组合的N个第一待检整周模糊度和第二长波观测组合的M个第二待检整周模糊度；确定满足预设整周模糊度条件的第一整周模糊度和第二整周模糊度；然后确定短波双差整周模糊度，以测量航天器相对位置。

Description

基于GNSS差分的航天器相对位置测量方法及其装置
相关申请的交叉引用
本申请要求享有于2022年7月20日提交的中国专利申请202210855431.0的优先权，该申请的全部内容通过引用并入本文中。
技术领域
本申请属于航空技术领域，尤其涉及一种基于GNSS差分的航天器相对位置测量方法及其装置。
背景技术
随着航天科技的不断发展，空间任务的类型也愈发丰富，复杂度不断增加，分布式航天系统(Distributed Space System,DSS)应运而生。而卫星编队飞行(Formation Flight)是分布式航天系统的一类典型工作方式，其中实时、准确的相对位置测量是编队控制的输入条件，是保持和重构编队构型，避免发生碰撞、保证安全的基本前提。目前全球导航卫星系统(Global Navigation Satellite System,GNSS)相对位置测量往往存在难以同时满足航天器相对位置测量的实时性和高精度需求。
发明内容
本申请实施例提供一种基于GNSS差分的航天器相对位置测量方法及其装置，以解决现有的相对位置测量方法难以同时满足航天器相对位置测量的实时性和高精度需求的技术问题。
第一方面，本申请实施例提供一种基于GNSS差分的航天器相对位置测量方法，方法包括：
获取第一长波观测组合和第二长波观测组合；
根据预设的伪距双差线性方程和预设的载波双差方程进行双差整周模 糊度搜索，确定所述第一长波观测组合的N个第一待检整周模糊度和所述第二长波观测组合的M个第二待检整周模糊度，N、M为大于1的整数；
从所述N个第一待检整周模糊度中确定第一整周模糊度，以及从所述M个第二待检整周模糊度中确定第二整周模糊度，所述第一整周模糊度和所述第二整周模糊度均满足预设整周模糊度条件；
根据所述第一整周模糊度和所述第二整周模糊度，确定短波双差整周模糊度，以测量航天器相对位置。
第二方面，本申请实施例提供了一种基于GNSS差分的航天器相对位置测量装置，装置包括：
获取模块，用于获取第一长波观测组合和第二长波观测组合；
第一确定模块，用于根据预设的伪距双差线性方程和预设的载波双差方程进行双差整周模糊度搜索，确定所述第一长波观测组合的N个第一待检整周模糊度和所述第二长波观测组合的M个第二待检整周模糊度，N、M为大于1的整数；
第二确定模块，用于从所述N个第一待检整周模糊度中确定第一整周模糊度，以及从所述M个第二待检整周模糊度中确定第二整周模糊度，所述第一整周模糊度和所述第二整周模糊度均满足预设整周模糊度条件；
测量模块，用于根据所述第一整周模糊度和所述第二整周模糊度，确定短波双差整周模糊度，以测量航天器相对位置。
第三方面，本申请实施例提供了一种电子设备，设备包括：
处理器以及存储有程序或指令的存储器；
所述处理器执行所述程序或指令时实现上述的方法。
第四方面，本申请实施例提供了一种可读存储介质，所述可读存储介质上存储有程序或指令，所述程序或指令被处理器执行时实现上述的方法。
第五方面，本申请实施例提供了一种计算机程序产品，所述计算机程序产品中的指令由电子设备的处理器执行时，使得所述电子设备执行上述方法。
本申请实施例的基于GNSS差分的航天器相对位置测量方法及其装置，能够获取第一长波观测组合和第二长波观测组合；根据预设的伪距双差线 性方程和预设的载波双差方程进行双差整周模糊度搜索，确定第一长波观测组合的N个第一待检整周模糊度和第二长波观测组合的M个第二待检整周模糊度；从N个第一待检整周模糊度和M个第二待检整周模糊度中分别确定满足预设整周模糊度条件的第一整周模糊度和第二整周模糊度；并根据第一整周模糊度和第二整周模糊度，确定短波双差整周模糊度，以测量航天器相对位置。这样，可以利用GNSS提供的多个频率观测量，通过线性组合的方式扩大载波波长，并搜索扩大载波波长后的第一长波观测组合和第二长波观测组合的整周模糊度，从而可以稀疏化整周模糊度的搜索空间，减少搜索工作量，压缩解算时间，且能够得到短波双差整周模糊度以精准测量航天器相对位置，因此可同时满足航天器相对位置测量的实时性和高精度需求。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单的介绍，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请一个实施例提供的基于GNSS差分的航天器相对位置测量方法的流程示意图；
图2是本申请实施例提供的基于GNSS差分的航天器相对位置测量方法的一个场景实施例流程图；
图3是基于长波双差整周模糊度固定的基线长度精度；
图4是基于长波双差整周模糊度固定的基线分量精度；
图5是本申请另一个实施例提供的基于GNSS差分的航天器相对位置测量装置的结构示意图；
图6是本申请又一个实施例提供的电子设备的结构示意图。
具体实施方式
下面将详细描述本申请的各个方面的特征和示例性实施例，为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及具体实施例， 对本申请进行进一步详细描述。应理解，此处所描述的具体实施例仅意在解释本申请，而不是限定本申请。对于本领域技术人员来说，本申请可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本申请的示例来提供对本申请更好的理解。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
为了解决现有技术问题，本申请实施例提供了一种基于全球导航卫星系统(Global Navigation Satellite System,GNSS)差分的航天器相对位置测量方法及其装置。下面首先对本申请实施例所提供的基于GNSS差分的航天器相对位置测量方法进行介绍。
图1示出了本申请一个实施例提供的基于GNSS差分的航天器相对位置测量方法的流程示意图。如图1所示，基于GNSS差分的航天器相对位置测量方法可以包括如下步骤：
步骤101，获取第一长波观测组合和第二长波观测组合；
步骤102，根据预设的伪距双差线性方程和预设的载波双差方程进行双差整周模糊度搜索，确定第一长波观测组合的N个第一待检整周模糊度和第二长波观测组合的M个第二待检整周模糊度，N、M为大于1的整数；
步骤103，从N个第一待检整周模糊度中确定第一整周模糊度，以及从M个第二待检整周模糊度中确定第二整周模糊度，第一整周模糊度和第二整周模糊度均满足预设整周模糊度条件；
步骤104，根据第一整周模糊度和第二整周模糊度，确定短波双差整周模糊度，以测量航天器相对位置。
上述各个步骤的具体实现方式将在下文中进行详细描述。
在本申请实施例中，基于GNSS差分的航天器相对位置测量方法能够获取第一长波观测组合和第二长波观测组合；根据预设的伪距双差线性方程和预设的载波双差方程进行双差整周模糊度搜索，确定第一长波观测组合的N个第一待检整周模糊度和第二长波观测组合的M个第二待检整周模糊度；从N个第一待检整周模糊度和M个第二待检整周模糊度中分别确定满足预设整周模糊度条件的第一整周模糊度和第二整周模糊度；并根据第一整周模糊度和第二整周模糊度，确定短波双差整周模糊度，以测量航天器相对位置。这样，可以利用GNSS提供的多个频率观测量，通过线性组合的方式扩大载波波长，并搜索扩大载波波长后的第一长波观测组合和第二长波观测组合的整周模糊度，从而可以稀疏化整周模糊度的搜索空间，减少搜索工作量，压缩解算时间，且能够得到短波双差整周模糊度以精准测量航天器相对位置，因此可同时满足航天器相对位置测量的实时性和高精度需求。
下面介绍上述各个步骤的具体实现方式。
在本申请实施例中，可以预先建立伪距双差线性方程和载波双差方程。示例地，可以基于GNSS伪距观测方程，以L1频点C/A码伪距观测值CA i为例，伪距观测方程表达式可以如公式(1)所示：
其中，可以表示接收机A与导航卫星i之间的距离；为接收机A时钟相对于GPS标准时的偏差，c为真空光速；δpi为导航卫星i星历误差；为信号在传播路径上由电离层引起的测量偏差；为信号在传播路径上由对流层引起的测量偏差；为信号在传播路径上由多路径效应引起的测量偏差；为地球自转效应引起的偏差；εA为接收机A本地测量噪声。接收机A与导航卫星i之间的距离的表达式可以如公式(2)所示：
其中，为信号发射时刻导航卫星i在地固系中的准确坐标；(xA yA zA)T为信号到达时刻接收机A在地固系中的准确坐标。
可以基于载波相位观测方程，可以分别为接收机A接收到的L1、L2频点观测导航卫星i的载波相位测量值，载波相位观测方程表达式可以如公式(3)所示：
其中，分别为L1、L2频点的整周模糊度；λ1、λ2为载波波长；可以表示接收机A与导航卫星i之间的距离；为接收机A时钟相对于GPS标准时的偏差，c为真空光速；δpi为导航卫星i星历误差；为信号在传播路径上由电离层引起的测量偏差；为信号在传播路径上由对流层引起的测量偏差；为信号在传播路径上由多路径效应引起的测量偏差；为地球自转效应引起的偏差；εA为接收机A本地测量噪声。
可以理解的是，当两个接收机(即观测点)构成的基线较短，大气误差源的影响具有较强相关性，通过观测站之间的差分，可大幅削减误差源的影响，其中观测站间单差可以消除卫星钟差，卫星星历误差。接收机A和接收机B同步观测导航卫星Si的伪距单差方程表达式可以如公式(4)所示：
接收机A和接收机B同步观测导航卫星Si的载波相位单差方程表达式可以如公式(5)所示：
其中，近似解算点可以通过单点定位方法得到。可以理解的是，目前GPS单点定位算法的三轴误差可以控制在10m内，为了减少计算量，节约算力，可以忽略高阶项，只考虑常数项和一次项。还可以理解的是，对于10km以内的基线，基线两端点观测同一颗导航星的方向余弦偏差在5e-4以内，对基线改正量的影响不大于5mm，在此可以将不同端点方向余弦做近似处理，得到公式(6)：
其中，(ΔxAB ΔyAB ΔzAB)T为初始基线的改正量，伪距方程可以表达为公式(7)：
其中，为伪距常数项，ei为方向余弦。当同步观测n颗卫星时，伪距单差方程可表示为公式(8)：
载波相位单差方程可表达为公式(9)：
在伪距单差方程和载波相位单差方程的基础上，可以对同一颗参考星Sj进行星间差分，得到伪距双差线性方程和载波双差方程，可进一步消除接收机的钟差。
伪距双差线性方程的表达式可如公式(10)所示：
载波双差方程的表达式可如公式(11)所示：
因此，伪距双差线性方程可记为公式(12)：
yρ＝EΔb+ερ          (12)
其中，yρ为伪距常数项；E为方向余弦矩阵；Δb为基线长度；ερ为伪距误差项。
载波双差方程可记为公式(13)：
其中，为载波常数项；λ为在载波波长；E为方向余弦矩阵；Δb为基线长度；为L1频点的整周模糊度；ερ为载波误差项。
在本申请实施例中，可以获取第一长波观测组合和第二长波观测组合。可以理解的是，在高精度基线测量可以通过获取准确的整周模糊度进行测量。利用GNSS提供的多个频率观测量，可以通过线性组合扩大载波波长，从而稀疏化整周模糊度的搜索空间，这样可以减少搜索工作量，压缩解算时间。故可以获取线性组合后的第一长波观测组合和第二长波观测组合，可以理解的是，为了后续短波双差整周模糊度的求解，第一长波观测组合与第二长波观测组合之间需满足非线性关系。
为了保证整周模糊度的整数特性，第一长波观测组合和第二长波观测组合的组合系数α，β需为整数，其中组合方程的波长可表示为公式(14)：
可采用的组合方式列举可以如下：
其中相对噪声可表示为公式(15)：
相对电离层误差可表示为公式(16)：
可见，线性组合后放大了单个观测方程的噪声，故第一长波观测组合和第二长波观测组合可以仅用于整周模糊度的搜索与确定，最终基线解算时可以基于第一长波观测组合的第一整周模糊度和第二长波观测组合的第二整周模糊度所确定的短波双差整周模糊度，进行更准确的基线解算，从而更准确地测量航天器相对位置。
在一些实施例中，第一长波观测组合可以为第二长波观测组合可以为基于公式(13)和公式(14)可知，相应的长波测量方程可以为公式(17)：
相应的长波测量方程可以为公式(18)：
其中组合后的待检整周模糊度可以表示为公式(19)：
可以根据上述预先建立的伪距双差线性方程和载波双差方程进行双差整周模糊度搜索，确定第一长波观测组合(如)的多个第一待检整周模糊度，以及第二长波观测组合(如)的多个第二待检整周模糊度。
可以理解的是，每个长波观测组合可以搜索得到多个待检整周模糊度，可以从多个待检整周模糊度中确定满足预设整周模糊度条件的唯一正确的整周模糊度，以确保整周模糊度的搜索准确性。其中预设整周模糊度条件可以是整周模糊度对应的通道残差位于预设残差区间，也可以是整周模糊度对应的残差平方和满足预设关系等，此处不作具体限定，可根据实际情况进行设定。
确定出正确的第一整周模糊度(如NL(1,-1)r)和第二整周模糊度(如 NL(-3,4)r)后，可以得到L1频点的短波双差整周模糊度其表示式可以如公式(20)所示：
可以根据短波双差整周模糊度，测量航天器相对位置。示例地，可以根据接收机A与导航卫星之间的短波双差整周模糊度，确定接收机A与该导航卫星之间的距离，进而可以根据接收机A与多个导航卫星之间的距离，确定接收机A的位置。同理可以确定出接收机B的位置，进而可以基于接收机A的位置与接收机B的位置，测量接收机A与接收机B的相对位置。
可选地，在一些实施例中，上述步骤102可以包括如下步骤：
在接收到原始观测数据的情况下，基于伪距单点定位获取初始解算点和星历解算，得到P个导航卫星中各导航卫星与接收机之间的位置坐标，P为大于1的整数；
根据各导航卫星与接收机之间的位置坐标，确定各导航卫星的高度角；
根据各导航卫星的高度角，确定观测值的先验方差，以及参考导航卫星；
根据先验方差和参考导航卫星，得到先验方差的协方差阵；
基于协方差阵，得到观测权阵；
基于观测权阵和伪距双差线性方程，求解得到第一基线向量、第一通道残差和加权方差，以确定第一搜索区间；
根据载波双差方程，在第一搜索区间内进行双差整周模糊度搜索，确定第一长波观测组合的N个第一待检整周模糊度和第二长波观测组合的M个第二待检整周模糊度。
在本实施例中，GNSS接收到原始观测数据后，可以基于伪距单点定位获取初始解算点和星历解算，得到不同导航卫星和接收机之间的位置坐标，进而求出每颗导航卫星的高度角。可以理解的是，高度角越小的观测数据其质量越差，可以通过数据加权，将高度角大的导航卫星的观测数据赋予更高的权值，这样，可以通过观测值定权削减低精度观测值对相对位置测量的影响，采用基于高度角的改进正弦函数模型，描述高度角对载波观测质量的影响，计算观测值的先验方差，观测值的先验方差可以如公式(21)所示：
其中，取经验值可得a＝4mm，b＝3mm。可以设高度角最高导航卫星为参考星，若先验方差方程的参考星为Sr，S1,2,..k为非参考星，则先验方差方程的协方差阵可以如公式(22)所示：
可以基于协方差阵，得到观测权阵，观测权阵可以如公式(23)所示：
W＝Z-1         (23)
可以基于观测权阵和伪距双差线性方程，通过最小二乘法求解低精度的第一基线向量第一通道残差以及加权方差
则基线向量的协方差矩阵可以为：
基于此，整周模糊度的第一搜索空间可以以为中心构造长方体，其中，长方体各边区间可以为：
Σ＝∏([-TσΔx TσΔx]，[-TσΔy TσΔy]，[-TσΔz TσΔz])   (26)
其中在实际处理过程中，可以取T＝2.4，此时可以有95.2％的概率涵盖正确的整周模糊度。
可以根据载波双差方程，在第一搜索区间内进行双差整周模糊度搜索，确定第一长波观测组合的N个第一待检整周模糊度和第二长波观测组合的M个第二待检整周模糊度。
本实施例中，可以通过求解得到的第一基线向量、第一通道残差和加权方差确定第一搜索区间，可以预先将整周模糊度的搜索范围限制在一个相对较小的范围内，从而可以进一步减少搜索工作量，压缩解算时间，提高实时性。
可以理解的是，若在第一搜索区间内未搜索到正确的整周模糊度，则可以在第一搜索区间的基础上扩大搜索区间，得到第二搜索区间，并根据载波双差方程，在第二搜索区间内进行双差整周模糊度搜索。
可选地，在一些实施例中，N个第一待检整周模糊度对应的N个第二通道残差均位于预设残差筛选区间。
在本实施例中，以第一长波观测组合可以为第二长波观测组合可以为为例。可以对于第一长波观测组合预先设置残差筛选区间，其中残差筛选区间可以为(-4σ,4σ)，以排除第一长波观测组合的第二通道残差在±4σ之外的第一待检整周模糊度。这样，可以进一步缩小整周模糊度的搜索空间。
可以理解的是，由于第二长波观测组合的误差放大倍率高，当伪距误差较大时，预设筛除有可能会过滤掉正确的整周模糊度，同时第二长波观测组合的波长可以达到1.68m，其搜索空间相对于第一长波观测组合更加稀疏，因此可以不对第二长波观测组合的第二待检整周模糊度进行筛选。
可选地，在一些实施例中，上述步骤103可以包括如下步骤：
确定Q个目标待检整周模糊度对应的Q个残差平方和，Q为大于1的整数；
确定Q个残差平方和中的最小残差平方和以及次最小残差平方和；
在次最小残差平方和与最小残差平方和的比值大于预设的第一检验阈值的情况下，将最小残差平方和对应的目标待检整周模糊度确定为目标整周模糊度；
其中，在Q个目标待检整周模糊度为N个第一待检整周模糊度的情况下，目标整周模糊度为第一整周模糊度；在Q个目标待检整周模糊度为M个第二待检整周模糊度的情况下，目标整周模糊度为第二整周模糊度。
可以理解的是，长波观测组合的残差表达式可以如公式(27)所示：
由此，目标待检整周模糊度对应的残差平方和可以为：
可以将多个残差平方和从小到大进行排序，确定出最小残差平方和以及次最小残差平方和将最小残差平方和以及次最小残差平方和进行第一次比率检验：
其中，预设的第一检验阈值threshold可以根据实际情况进行设定，例如第一检验阈值threshold＝3。
在次最小残差平方和与最小残差平方和的比值大于预设的第一检验阈值的情况下，可以将最小残差平方和对应的目标待检整周模糊度确定为正确的目标整周模糊度。
可选地，在一些实施例中，确定Q个残差平方和中的最小残差平方和以及次最小残差平方和之后，基于GNSS差分的航天器相对位置测量方法还可以包括如下步骤：
在次最小残差平方和与最小残差平方和的比值小于或等于第一检验阈值的情况下，将Q个残差平方和从小到大进行排序；
在第k个残差平方和与最小残差平方和的比值大于预设的第二检验阈值的情况下，将最小残差平方和对应的目标待检整周模糊度确定为目标整周模糊度，k为大于1的整数且k小于或等于Q。
在本实施例中，若次最小残差平方和与最小残差平方和的比值小于或等于第一检验阈值，即最小残差平方和以及次最小残差平方和没有通过第一次比率检验，则可以进行第二次比率检验。
示例地，可以将残差平方和从小到大排序取出前k个对应的整周模糊度NL(α,β)1→k，满足：
其中，预设的第二检验阈值th_long可以根据实际情况进行设定，例如第二检验阈值th_long＝4。另外，k值可以根据实际情况进行设定，此处不作具体限定。
在第k个残差平方和与最小残差平方和的比值大于预设的第二检验阈值的情况下，可以将最小残差平方和对应的目标待检整周模糊度确定为正确的目标整周模糊度。
在一些示例中，若目标待检整周模糊度两次比率检验均不通过，则可以说明目标待检整周模糊度不包含正确解，此时可以扩大搜索区间，重新确定出对应的待检整周模糊度，并再次进行比率检验，直至通过。
可选地，在一些实施例中，上述步骤104可以包括如下步骤：
根据第一整周模糊度和第二整周模糊度，确定短波双差待检整周模糊度，及短波双差待检整周模糊度对应的第三通道残差；
在第三通道残差位于预设残差检测区间的情况下，确定短波双差待检整周模糊度为短波双差整周模糊度；
根据短波双差整周模糊度，测量航天器相对位置。
为了进一步提高相对位置测量的精度，可以在确定出正确的第一整周模糊度和第二整周模糊度后，根据第一整周模糊度和第二整周模糊度，确定短波双差待检整周模糊度及短波双差待检整周模糊度对应的第三通道残差，此时还需对第三通道残差进行显著性检验最终确认，若通过，则可以认为短波双差待检整周模糊度为正确的短波双差整周模糊度。
示例地，可以判断第三通道残差是否位于预设残差检测区间，若第三通道残差位于预设残差检测区间，则可以确定短波双差待检整周模糊度为短波双差整周模糊度。其中，预设残差检测区间可以结合实际情况进行设定。例如，第三通道残差可以为无组合通道残差，预设残差检测区间可以为 (-3σ,3σ)。
在一些示例中，若第三通道残差不位于预设残差检测区间，则可以说明短波双差待检整周模糊度不是正确解，此时可以扩大搜索区间，重新进行整周模糊度搜索，直至最终得到正确的短波双差整周模糊度，以测量航天器相对位置。
为了便于理解上述实施例提供的基于GNSS差分的航天器相对位置测量方法，以下以一个具体的场景实施例对上述基于GNSS差分的航天器相对位置测量方法进行说明。图2示出了上述基于GNSS差分的航天器相对位置测量方法的场景实施例流程图。
如图2所示，本场景实施例以第一长波观测组合可以为第二长波观测组合可以为为例。
GNSS接收到原始观测数据后，可以基于伪距单点定位获取初始解算点和星历解算，得到不同导航卫星和接收机之间的位置坐标，进而求出每颗导航卫星的高度角，再根据高度角为观测值定权，确定观测值的先验方差。根据先验方差和高度角最大的参考导航卫星，得到先验方差的协方差阵，基于协方差阵得到观测权阵。然后可以基于观测权阵和伪距双差线性方程，求解得到第一基线向量、第一通道残差和加权方差，以确定第一搜索区间，以确定出第一搜索区间，并根据载波双差方程，在第一搜索区间内进行双差整周模糊度搜索，确定和的整周未知数检验集合(即N个第一待检整周模糊度和M个第二待检整周模糊度)。
对和的整周未知数检验集合进行一次比率检验，若通过，则可以确定出其各自正确的整周模糊度，若不通过，则需要经过二次比率检验。若二次比率检验通过则可以确定出正确的整周模糊度，若仍未通过，则此时可以提高检验阈值，并扩大待检组(即可以在第一搜索区间的基础上扩大搜索区间，得到第二搜索区间，并在第二搜索区间内重新进行双差整周模糊度搜索)，直至确定出和各自正确的整周模糊度。
可以基于和各自正确的整周模糊度，得到短波双差待检整周模糊度，及其对应的无组合通道残差(即第三通道残差)，若无组合通道残差位于(-3σ,3σ)(即预设残差检测区间)，则可以确定短波双差待 检整周模糊度为短波双差整周模糊度，此时可以确定精密基线。若无组合通道残差不位于(-3σ,3σ)，则可以提高检验阈值，并扩大待检组(即可以在第一搜索区间的基础上扩大搜索区间，得到第二搜索区间，并在第二搜索区间内重新进行双差整周模糊度搜索)，直至无组合通道残差位于(-3σ,3σ)。
可以理解的是，确定精密基线后，可以将无组合通道残差更新至第一通道残差，在下一次进行相对位置测量时，可以将更新后的通道残差作为搜索区间的基础，以使进一步减少搜索工作量，提高实时性。
可以通过相对位置测量试验对本场景实施例的基于GNSS差分的航天器相对位置测量方法进行验证，实时精密基线以及三轴分量如图3和图4所示，可见基线向量稳定在厘米级，有效满足了航天器相对位置测量的高精度需求。
基于上述实施例提供的基于GNSS差分的航天器相对位置测量方法，本申请还提供了一种基于GNSS差分的航天器相对位置测量装置的实施例。
图5示出了本申请另一个实施例提供的基于GNSS差分的航天器相对位置测量装置的结构示意图，为了便于说明，仅示出了与本申请实施例相关的部分。
参照图5，基于GNSS差分的航天器相对位置测量装置500可以包括：
获取模块501，用于获取第一长波观测组合和第二长波观测组合；
第一确定模块502，用于根据预设的伪距双差线性方程和预设的载波双差方程进行双差整周模糊度搜索，确定第一长波观测组合的N个第一待检整周模糊度和第二长波观测组合的M个第二待检整周模糊度，N、M为大于1的整数；
第二确定模块503，用于从N个第一待检整周模糊度中确定第一整周模糊度，以及从M个第二待检整周模糊度中确定第二整周模糊度，第一整周模糊度和第二整周模糊度均满足预设整周模糊度条件；
测量模块504，用于根据第一整周模糊度和第二整周模糊度，确定短波双差整周模糊度，以测量航天器相对位置。
可选地，在一些实施例中，上述第一确定模块502还可以用于：
在接收到原始观测数据的情况下，基于伪距单点定位获取初始解算点和星历解算，得到P个导航卫星中各导航卫星与接收机之间的位置坐标，P为大于1的整数；
根据各导航卫星与接收机之间的位置坐标，确定各导航卫星的高度角；
根据各导航卫星的高度角，确定观测值的先验方差，以及参考导航卫星；
根据先验方差和参考导航卫星，得到先验方差的协方差阵；
基于协方差阵，得到观测权阵；
基于观测权阵和伪距双差线性方程，求解得到第一基线向量、第一通道残差和加权方差，以确定第一搜索区间；
根据载波双差方程，在第一搜索区间内进行双差整周模糊度搜索，确定第一长波观测组合的N个第一待检整周模糊度和第二长波观测组合的M个第二待检整周模糊度。
可选地，在一些实施例中，第一长波观测组合为第二长波观测组合为
可选地，在一些实施例中，N个第一待检整周模糊度对应的N个第二通道残差均位于预设残差筛选区间。
可选地，在一些实施例中，上述第二确定模块503还可以用于：
确定Q个目标待检整周模糊度对应的Q个残差平方和，Q为大于1的整数；
确定Q个残差平方和中的最小残差平方和以及次最小残差平方和；
在次最小残差平方和与最小残差平方和的比值大于预设的第一检验阈值的情况下，将最小残差平方和对应的目标待检整周模糊度确定为目标整周模糊度；
其中，在Q个目标待检整周模糊度为N个第一待检整周模糊度的情况下，目标整周模糊度为第一整周模糊度；在在Q个目标待检整周模糊度为M个第二待检整周模糊度的情况下，目标整周模糊度为第二整周模糊度。
可选地，在一些实施例中，基于GNSS差分的航天器相对位置测量装置500还可以包括检验模块，可以用于：
在次最小残差平方和与最小残差平方和的比值小于或等于第一检验阈 值的情况下，将Q个残差平方和从小到大进行排序；
在第k个残差平方和与最小残差平方和的比值大于预设的第二检验阈值的情况下，将最小残差平方和对应的目标待检整周模糊度确定为目标整周模糊度，k为大于1的整数且k小于或等于Q。
可选地，在一些实施例中，上述测量模块504还可以用于：
根据第一整周模糊度和第二整周模糊度，确定短波双差待检整周模糊度，及短波双差待检整周模糊度对应的第三通道残差；
在第三通道残差位于预设残差检测区间的情况下，确定短波双差待检整周模糊度为短波双差整周模糊度；
根据短波双差整周模糊度，测量航天器相对位置。
需要说明的是，上述装置/单元之间的信息交互、执行过程等内容，与本申请方法实施例基于同一构思，是与上述基于GNSS差分的航天器相对位置测量方法对应的装置，上述方法实施例中所有实现方式均适用于该装置的实施例中，其具体功能及带来的技术效果，具体可参见方法实施例部分，此处不再赘述。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将装置的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
图6示出了本申请又一个实施例提供的电子设备的硬件结构示意图。
设备可以包括处理器601以及存储有程序或指令的存储器602。
处理器601执行程序时实现上述任意各个方法实施例中的步骤。
示例性的，程序可以被分割成一个或多个模块/单元，一个或者多个模 块/单元被存储在存储器602中，并由处理器601执行，以完成本申请。一个或多个模块/单元可以是能够完成特定功能的一系列程序指令段，该指令段用于描述程序在设备中的执行过程。
具体地，上述处理器601可以包括中央处理器(CPU)，或者特定集成电路(Application Specific Integrated Circuit，ASIC)，或者可以被配置成实施本申请实施例的一个或多个集成电路。
存储器602可以包括用于数据或指令的大容量存储器。举例来说而非限制，存储器602可包括硬盘驱动器(Hard Disk Drive，HDD)、软盘驱动器、闪存、光盘、磁光盘、磁带或通用串行总线(Universal Serial Bus，USB)驱动器或者两个或更多个以上这些的组合。在合适的情况下，存储器602可包括可移除或不可移除(或固定)的介质。在合适的情况下，存储器602可在综合网关容灾设备的内部或外部。在特定实施例中，存储器602是非易失性固态存储器。
存储器可包括只读存储器(ROM)，随机存取存储器(RAM)，磁盘存储介质设备，光存储介质设备，闪存设备，电气、光学或其他物理/有形的存储器存储设备。因此，通常，存储器包括一个或多个编码有包括计算机可执行指令的软件的有形(非暂态)可读存储介质(例如，存储器设备)，并且当该软件被执行(例如，由一个或多个处理器)时，其可操作来执行参考根据本公开的一方面的方法所描述的操作。
处理器601通过读取并执行存储器602中存储的程序或指令，以实现上述实施例中的任意一种方法。
在一个示例中，电子设备还可包括通信接口603和总线604。其中，处理器601、存储器602、通信接口603通过总线604连接并完成相互间的通信。
通信接口603，主要用于实现本申请实施例中各模块、装置、单元和/或设备之间的通信。
总线604包括硬件、软件或两者，将在线数据流量计费设备的部件彼此耦接在一起。举例来说而非限制，总线可包括加速图形端口(AGP)或其他图形总线、增强工业标准架构(EISA)总线、前端总线(FSB)、超传输 (HT)互连、工业标准架构(ISA)总线、无限带宽互连、低引脚数(LPC)总线、存储器总线、微信道架构(MCA)总线、外围组件互连(PCI)总线、PCI-Express(PCI-X)总线、串行高级技术附件(SATA)总线、视频电子标准协会局部(VLB)总线或其他合适的总线或者两个或更多个以上这些的组合。在合适的情况下，总线404可包括一个或多个总线。尽管本申请实施例描述和示出了特定的总线，但本申请考虑任何合适的总线或互连。
另外，结合上述实施例中的方法，本申请实施例可提供一种可读存储介质来实现。该可读存储介质上存储有程序或指令；该程序或指令被处理器执行时实现上述实施例中的任意一种方法。该可读存储介质可以被如计算机等机器读取。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片、系统芯片、芯片系统或片上系统芯片等。
本申请实施例提供一种计算机程序产品，该程序产品被存储在可读存储介质中，该程序产品被至少一个处理器执行以实现如上述方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
需要明确的是，本申请并不局限于上文所描述并在图中示出的特定配置和处理。为了简明起见，这里省略了对已知方法的详细描述。在上述实施例中，描述和示出了若干具体的步骤作为示例。但是，本申请的方法过程并不限于所描述和示出的具体步骤，本领域的技术人员可以在领会本申请的精神后，作出各种改变、修改和添加，或者改变步骤之间的顺序。
以上所述的结构框图中所示的功能模块可以实现为硬件、软件、固件或者它们的组合。当以硬件方式实现时，其可以例如是电子电路、专用集成电路(ASIC)、适当的固件、插件、功能卡等等。当以软件方式实现时，本申请的元素是被用于执行所需任务的程序或者代码段。程序或者代码段可以存储在机器可读介质中，或者通过载波中携带的数据信号在传输介质或者 通信链路上传送。“机器可读介质”可以包括能够存储或传输信息的任何介质。机器可读介质的例子包括电子电路、半导体存储器设备、ROM、闪存、可擦除ROM(EROM)、软盘、CD-ROM、光盘、硬盘、光纤介质、射频(RF)链路，等等。代码段可以经由诸如因特网、内联网等的计算机网格被下载。
还需要说明的是，本申请中提及的示例性实施例，基于一系列的步骤或者装置描述一些方法或系统。但是，本申请不局限于上述步骤的顺序，也就是说，可以按照实施例中提及的顺序执行步骤，也可以不同于实施例中的顺序，或者若干步骤同时执行。
上面参考根据本公开的实施例的方法、装置(系统)和程序产品的流程图和/或框图描述了本公开的各方面。应当理解，流程图和/或框图中的每个方框以及流程图和/或框图中各方框的组合可以由计算机程序或指令实现。这些程序或指令可被提供给通用计算机、专用计算机、或其它可编程数据处理装置的处理器，以产生一种机器，使得经由计算机或其它可编程数据处理装置的处理器执行的这些指令使能对流程图和/或框图的一个或多个方框中指定的功能/动作的实现。这种处理器可以是但不限于是通用处理器、专用处理器、特殊应用处理器或者现场可编程逻辑电路。还可理解，框图和/或流程图中的每个方框以及框图和/或流程图中的方框的组合，也可以由执行指定的功能或动作的专用硬件来实现，或可由专用硬件和计算机指令的组合来实现。
以上所述，仅为本申请的具体实施方式，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的系统、模块和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。应理解，本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。

Claims (10)

  1. 一种基于GNSS差分的航天器相对位置测量方法，包括：
    获取第一长波观测组合和第二长波观测组合，
    根据预设的伪距双差线性方程和预设的载波双差方程进行双差整周模糊度搜索，确定所述第一长波观测组合的N个第一待检整周模糊度和所述第二长波观测组合的M个第二待检整周模糊度，N、M为大于1的整数，
    从所述N个第一待检整周模糊度中确定第一整周模糊度，以及从所述M个第二待检整周模糊度中确定第二整周模糊度，所述第一整周模糊度和所述第二整周模糊度均满足预设整周模糊度条件，
    根据所述第一整周模糊度和所述第二整周模糊度，确定短波双差整周模糊度，以测量航天器相对位置。
  2. 根据权利要求1所述的方法，其中，所述根据预设的伪距双差线性方程和预设的载波双差方程进行双差整周模糊度搜索，确定所述第一长波观测组合的N个第一待检整周模糊度和所述第二长波观测组合的M个第二待检整周模糊度，包括：
    在接收到原始观测数据的情况下，基于伪距单点定位获取初始解算点和星历解算，得到P个导航卫星中各导航卫星与接收机之间的位置坐标，P为大于1的整数，
    根据所述各导航卫星与接收机之间的位置坐标，确定各导航卫星的高度角，
    根据所述各导航卫星的高度角，确定观测值的先验方差，以及参考导航卫星，
    根据所述先验方差和所述参考导航卫星，得到先验方差的协方差阵，
    基于所述协方差阵，得到观测权阵，
    基于所述观测权阵和所述伪距双差线性方程，求解得到第一基线向量、第一通道残差和加权方差，以确定第一搜索区间，
    根据所述载波双差方程，在所述第一搜索区间内进行双差整周模糊度搜索，确定所述第一长波观测组合的N个第一待检整周模糊度和所述第二 长波观测组合的M个第二待检整周模糊度。
  3. 根据权利要求1所述的方法，其中，所述第一长波观测组合为所述第二长波观测组合为
  4. 根据权利要求3所述的方法，其中，所述N个第一待检整周模糊度对应的N个第二通道残差均位于预设残差筛选区间。
  5. 根据权利要求1所述的方法，其中，所述从所述N个第一待检整周模糊度中确定第一整周模糊度，以及从所述M个第二待检整周模糊度中确定第二整周模糊度，包括：
    确定Q个目标待检整周模糊度对应的Q个残差平方和，Q为大于1的整数，
    确定所述Q个残差平方和中的最小残差平方和以及次最小残差平方和，
    在所述次最小残差平方和与所述最小残差平方和的比值大于预设的第一检验阈值的情况下，将所述最小残差平方和对应的所述目标待检整周模糊度确定为目标整周模糊度，
    其中，在所述Q个目标待检整周模糊度为N个第一待检整周模糊度的情况下，所述目标整周模糊度为第一整周模糊度；在所述Q个目标待检整周模糊度为M个第二待检整周模糊度的情况下，所述目标整周模糊度为第二整周模糊度。
  6. 根据权利要求5所述的方法，其中，所述确定所述Q个残差平方和中的最小残差平方和以及次最小残差平方和之后，所述方法还包括：
    在所述次最小残差平方和与所述最小残差平方和的比值小于或等于所述第一检验阈值的情况下，将所述Q个残差平方和从小到大进行排序，
    在第k个残差平方和与所述最小残差平方和的比值大于预设的第二检验阈值的情况下，将所述最小残差平方和对应的所述目标待检整周模糊度确定为目标整周模糊度，k为大于1的整数且k小于或等于Q。
  7. 根据权利要求1所述的方法，其中，所述根据所述第一整周模糊度和所述第二整周模糊度，确定短波双差整周模糊度，以测量航天器相对位置，包括：
    所述根据所述第一整周模糊度和所述第二整周模糊度，确定短波双差 待检整周模糊度，及所述短波双差待检整周模糊度对应的第三通道残差，
    在所述第三通道残差位于预设残差检测区间的情况下，确定所述短波双差待检整周模糊度为短波双差整周模糊度，
    根据所述短波双差整周模糊度，测量航天器相对位置。
  8. 一种基于GNSS差分的航天器相对位置测量装置，包括：
    获取模块，用于获取第一长波观测组合和第二长波观测组合，
    第一确定模块，用于根据预设的伪距双差线性方程和预设的载波双差方程进行双差整周模糊度搜索，确定所述第一长波观测组合的N个第一待检整周模糊度和所述第二长波观测组合的M个第二待检整周模糊度，N、M为大于1的整数，
    第二确定模块，用于从所述N个第一待检整周模糊度中确定第一整周模糊度，以及从所述M个第二待检整周模糊度中确定第二整周模糊度，所述第一整周模糊度和所述第二整周模糊度均满足预设整周模糊度条件，
    测量模块，用于根据所述第一整周模糊度和所述第二整周模糊度，确定短波双差整周模糊度，以测量航天器相对位置。
  9. 一种电子设备，包括：处理器以及存储有程序或指令的存储器；
    所述处理器执行所述程序或指令时实现如权利要求1-7任意一项所述的方法。
  10. 一种可读存储介质，所述可读存储介质上存储有程序或指令，所述程序或指令被处理器执行时实现如权利要求1-7任意一项所述的方法。
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