【作者】 支春阳；

【导师】 孙华；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2010， 硕士

【摘要】 GPS全球定位系统作为新一代的卫星定位导航系统以其高精度、全球性、全天候、连续而快速等特性而备受人们的广泛关注,它可以有效克服惯性导航设备误差随时间积累的缺点。随着载波相位差分技术和数字信号处理设备的快速发展,利用GPS载波相位差分技术为载体姿态测量的研究开辟了一个新的GPS应用研究的新领域。本文围绕利用GPS载波相位差分技术确定载体姿态这一主题,研究了GPS姿态测量相关理论以及整周模糊度求解的理论及算法并用FPGA实现了GPS姿态测量系统。本文设计的GPS姿态测量系统包括四个主要部分:数据的采集与处理、整周模糊度的解算、基线矢量解和姿态角的解算以及GPS姿态测量系统的硬件设计。第一部分首先要对GPS接收机发送配置信息,然后将接收到的二进制信息进行提取和格式转换;第二部分研究了整周模糊度的解算方法,选取了QR分解法快速求解整周模糊度,利用各种约束条件对范围内的值进行检验从而得到了精确的整周模糊度值;第三部分从载波相位观测方程出发,利用差分技术建立了载波相位的双差模型,在此基础上联立方程求解出基线的矢量解进而解出姿态角;第四部分是在前三部分的研究基础上进行了硬件和软件的具体实现,以FPGA为硬件基础,Nios II软核作为处理器,采用两个SUPERSTAR II GPS OEM接收机实现了本GPS姿态测量系统。最后本文采用多种实验方案对GPS姿态测量系统进行了验证,实验证明本方案可行,系统工作良好,可以有效地测出载体的姿态角。更多还原

【Abstract】 As a new generation of satellite positioning navigation system the Global Positioning System is famous for its high precision, global character, all-weather, continuity and high speed, It can overcome inertial navigation equipment’s shortcoming which error accumulates along with the time effectively. With the rapid development of the carrier phase differencing technique and digital signal processing hardware,The research on attitude determination by GPS carrier phase differencing measurement explores a new area in GPS application. This thesis investigates the attitude determination using carrier phase differencing technique with an emphasis on theoretical aspects and algorithms of the attitude determination and the solution of integer ambiguity. The implementation of GPS determination system based on FPGA is also discussed.The GPS attitude determination system which is discussed in this thesis consists of four vital parts including data acquisition and processing, integer ambiguity determination, attitude determination and the hardware implementation of the GPS attitude determination system. In the first part the configuration information has to be send into the GPS receiver firstly, then the binary information received from the GPS receiver needs to be extracted and converted in format. The integer ambiguity determination is discussed in the second part, the method of QR decomposition algorithm will be used in the ambiguity determination because of its rapidity, we can determinate the integer ambiguity form the scope of the integer ambiguity with the help of constraints. The attitude determination is discussed in the third part, and the carrier phase difference model which comes form the carrier phase observation equation will be established by using the differential techniques, the vector solution of the baseline and the angles of the attitude will be acquired from the model. In the last part the implementation of hardware and software which based on the research in the first three parts will be discussed. This GPS attitude determination system takes the FPGA as the hardware foundation, Nios II soft-core as the processor, and two SUPERSTAR II GPS OEM boards as the GPS signal receivers. Finally, this system will be verified by a variety of experimental programs, and it can be proved that the plan is feasible, the system works well, and the attitude angles can be acquired effectively.更多还原