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1、南京航空航天大学 硕士学位论文 基于多星座组合系统的载体姿态研究 姓名：彭天浪 申请学位级别：硕士 专业：导航、制导与控制 指导教师：范胜林 2011-01 南京航空航天大学硕士学位论文 I 摘 要 摘 要 利用多星座组合系统的载波相位信息进行载体姿态的测量是姿态测量研究的新方向。本文 对多星座组合系统在多频特性的情况下对载体的姿态测量进行了研究。分析了用多频相位观测 信号进行载体姿态测量的特点，研究了利用多星座组合系统进行姿态测量的关键技术，并对其 进行了改进和优化，提高了载体姿态解算的速度和精度。 本文研究了卫星导航系统测量姿态的观测模型，研究了多频载波相位组合的原理，分析了 载体姿态测量
2、系统的误差特性，为后续工作和研究提供了理论基础。 在多星座组合系统中研究了载波观测信号初始整周模糊度的解算方法。本文对 TCAR 方法 和 LAMBDA 方法进行了研究，并分别仿真分析了它们各自的优缺点；结合两种方法的各自的 特点提出了一种基于 LAMBDA 搜索原理的 TCAR 方法解算双差初始整周模糊度，根据 TCAR 方法的步骤在每一步中加入 LAMBDA 搜索，逐步提高测量伪距的精度，最终还原到基本载波 模糊度值，能够在单历元解算出基本载波的双差模糊度值，克服了传统方法的局限性，能够快 速的解算出初始整周模糊度值。针对多星座组合系统中卫星数目较多的情况，研究了一种基于 方位角/仰角的选
3、星算法， 能够选出具有较好位置特性的一定数目的卫星进行单历元整周模糊度 的解算，提高了模糊度算法解算的速度。 研究了多频观测条件下相位求差法与伪距/相位组合法探测与修复周跳。针对伪距/相位组 合法，根据组合观测值原理，选取具有较长波长，能够消弱电离层误差，组合系数不相关的组 合观测值，利用组合载波观测值与伪距采用伪距/相位组合法探测出组合长波长的周跳情况，之 后还原到基本载波周跳情况。 研究了矢量姿态解算算法，主要分析研究了 QUEST 算法在多星座组合系统载体姿态解算 中的应用。研究了单星座系统、双星座组合系统和多星座组合系统情况下单频与多频解算载体 姿态的精度，并分析比较了不同情况下姿态解
4、算的精度。针对遮挡环境中可见卫星数目较少的 情况下比较了单星座解算姿态与多星座解算姿态的不同，体现出了多星座组合系统解算姿态的 优越性。在以上研究的基础上，建立了多星座组合系统的载体姿态测量系统仿真平台，仿真了 运动载体的航迹并验证了各个环节算法的可行性。 关键词：关键词： 多星座组合系统， 多频载波， 整周模糊度， TCAR， LAMBDA， 周跳， 姿态测量， QUEST 基于多星座组合系统的载体姿态研究 II ABSTRACT The research on attitude measurement using the carrier phase signals of the multi
5、-consatellation integrated system is a new direction of studies.In this paper,attitude measurement of the carrier based on multifrequency observations of the multi-consatellation is studied.The features of attitude measurement of the carrier using multifrequency phase observation signals are summari
6、zed.The key technologies of attitude measurement based on the multi-consatellation integrated system are researched,and analyse the improvement and optimization to improve speed and precision of the attitude measurement of the carrier. In this paper,the GNSS obversation models of the attitude measur
7、ement system are studied,the principle of the mulitfrequency carrier phase combination is summarized,and the error characteristics of the carrier attitude measurement system are analysed,this is a part which provide theory basis for the follow-up work and study. Combined system in the constellation
8、of multi-carrier signal is initially observed ambiguity of the solution method. This method of TCAR LAMBDA method is studied, and were simulated and analyzed their advantages and disadvantages.The methods that are used to fix the initial carrier phase ambiguity using the carrier phase obversations o
9、f the GNSS are studied.A method that is the TCAR based on the search method of the LAMBDA is advanced.The method that combinate the anvances of the TCAR and the LAMBDA is used to solve the carrier phase ambiguity of the double differenec.According to the steps of TCAR,the search method of the LAMBDA
10、 is added in every step.The measurement accuracy of pseudorang is improved gradually.The carrier phase ambiguity of the double difference can be solved in signal epoch.The method overcomes the limitations of traditional methods and can fastly calculate the initial carrier phase ambiguity.In the case
11、s of the satellite number of the multi-constellation intergated system,A method of the satellite selection algorithm based on azimuth/elevation can choose the satellites which have better positional characterictics of a certain number satellites.Those satellites can use to calculate the carrier phas
12、e ambiguity in signal epoch and improve the ambiguity algorithm for calculating speed. Multi-frequency observations of the phase requirements under the law and bad pseudorange / phase combination method cycle slip detection and repair.Using the method of pseudorang/phase combination to detect the cy
13、cle slip is studied.According to the multifrequeny characteristics of the mulit-consatellation intergated system, the application of the combination obversation in aspect of 南京航空航天大学硕士学位论文 III detection and reparation of the cycle slip is studied.According to the combination of obversation principle
14、s,choose the combination obversations which have a long wavelengths,can slack the ionosphere error and whose coefficient is irrelevant.The cycle slip of the long wavelengths obversation can be detected using the method of pseudorang/phase combination.Then the cycle slip of the basic carrier phase ca
15、n be obtained according to the cycle slip of the long wavelengths obversation. Solution of the vector attitude algorithm, the main analysis of the QUEST algorithm combined system in a multi-carrier constellation of attitude algorithm.In the event of single consatellation system,double consatellation
16、 intergated system and multi-consatellation intergated system,using the single frequency and multifrequency to calculate the attitude of the carrier is studied and the precisions of cacluating the attitude of the carrier are analysed and compared.According to keep out environment tha the visilbe satellite number is less,the difference caculating the attitude between the single consatellation system and the multi-consatellation interga
