【作者】 董建明；

【导师】 程建华；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2011， 硕士

【摘要】 利用GPS载波相位进行载体姿态测量是近年来新发展起来的一项GPS应用技术,与传统的惯性导航姿态测量系统相比,不仅能够提供载体的位置、速度和姿态信息,而且具有信息不随时间发散的优点,是其他姿态测量系统无法比拟的,已经广泛应用于航路导航、精密着陆、自动驾驶等领域。本文针对GPS姿态测量系统的关键技术进行研究,对进一步拓展GPS技术的应用具有重要的实用意义。本文首先通过对载波相位测量技术和基线姿态信息解算技术的讨论,介绍了GPS载波相位测量及定位原理,包括载波相位测量的观测量、观测方程及其线性化、载波相位相对定位原理等,确定了姿态测量的方式；对影响系统测量精度的各类误差源进行了分析,为后续确定载体姿态解算算法奠定了基础；在利用GPS载波相位进行姿态测量时,要确定准确的基线向量,关键是要保证载波相位信息的准确性。快速准确的获得载波相位的初始整周模糊度,是获得高精度定位的关键因素,是GPS姿态测量的关键问题。本文对常用模糊度的解算方法进行对比分析,确定系统模糊度解算方案,进行详细论述并对算法的有效性进行仿真验证。周跳是GPS载波相位测量过程中特有的问题。如果能够探测出周跳在何时发生、在哪个载波发生以及周跳值的大小,就可以对周跳发生时刻及其后续每个观测历元的载波相位值进行改正,将其恢复为正确的计数。本文对常用的周跳探测与修复方法进行对比分析,在此基础上提出了一种基于拟合思想的周跳探测与修复方法,用以解决电离层残差法检测周跳时的多值性问题,对该算法的实用性与有效性进行验证；之后,本文对常用载体姿态测量算法进行对比分析,确定系统的姿态解算算法并进行仿真研究,验证算法的可行性。在GPS姿态测量过程中,由于需要解算的导航信息类型很多,对每种导航信息的解算都需要对相同文件信息的数据进行反复处理、计算,过程十分繁琐,同时,也需要有一个软件平台,能够将每种导航信息的解算和相应的数据处理进行模块化处理。最后采用面向对象的MFC编程技术,对GPS姿态测量系统进行软件设计与实现,软件的设计为用户提供友好的界面,增强人机交互功能,能够对系统的关键算法进行仿真验证,提高系统的解算效率,为进一步对GPS姿态测量系统的研究提供了良好的仿真平台。更多还原

【Abstract】 Attitude determination by using GPS carrier phase is a new area of application of GPS recently. Comparing with the traditional attitude determination methods by INS (inertial navigation system), the information of position, velocity and attitude can be obtained by GPS attitude determination system, also do not divergent with time. And this advantage makes GPS being good at attitude determination than others. Now the method has being used in the fields such as route navigation, precise landing and automatic driving and so on. The key technologies of GPS attitude measurement system have been studied in this paper, which give a basic research on the extending the application of GPS technology.Based on the research of the carrier phase determination technology and the baseline attitude information solution technology, introduced the GPS carrier phase measurement and positioning principles, including the observations of carrier phase measurements, observation equations and theirs linearization, the principle carrier phase relative positioning, etc, confirmed the way of attitude measurement, on this basis leads to the basic principles of Attitude Determination, the main error sources which effect on the precision of the system have been analyzed, which laid a foundation for the following algorithm to vehicle attitude determination. During attitude determination using GPS carrier phase, the determination of baseline vector is necessary, and the key work is to ensure the accuracy of carrier phase information. Fast and accurate access to the initial carrier phase ambiguity is the key factor to obtain high-precision positioning, which is the key issue of GPS attitude determination. According to the comparation and analyzation of common solution methods of integer ambiguity, a simulation result has been given in this paper to prove the method which based on the integer ambiguity solution method of the attitude measurement system has been determined is efficiency.Cycle slip is a peculiar problem in the GPS carrier phase measurement process, and a key issue of GPS attitude determination. If the cycle slip occurring time and value can be detected, the observation value will be easier corrected at the right epoch, and restore the correct count. By analyzing and comparation the common methods of cycle-slip’detection and repairation, a good solution method of multi-valued problem of the ionospheres remnant method has been given, a simulation result has given to prove the new method is efficiency and feasible.In the process of GPS attitude determination, there are many types of navigation information need to solve, to solve each kind of navigation information needs to the same data process and calculation repeatedly, the process is very cumbersome, at the same time, a software platform is also needed which can deal each kind of navigation information and corresponding data processing with module processing. In the last part of the paper the GPS attitude determination software system has been designed based on MFC. A friendly platform has been shown on the computer, and the key algorithms of GPS attitude measurement can be simulated and verified, which not only raising the solution speed but also showing a friendly simulation platform for the further researching of GPS attitude measurement system.更多还原