船用低成本GNSS测向系统研究

GNSS导航星座主要由GPS、GLONASS、Galileo、BDS四大系统卫星组成,到2020年,用户有望同时观测到40多颗导航卫星,大幅提升导航性能的同时,也扩展了其应用领域。针对靶船、渔船对航向测量的需求,基于GNSS接收机应用现状,设计了低成本GNSS测向系统,使用2块Ublox LEA-M8T模块和STM32F407处理器搭建原理样机硬件平台,开展基于Kalman滤波器的载波相位差分姿态测量算法研究和基于Kalman滤波器的伪距差分姿态测量算法研究。静态实验表明,在8.5m基线的情况下,航向角测量标准差为0.0396°,俯仰角测量标准差为0.0889°。使用伪距差分算法,纬度方向上测量误差标准差为0.5923m,经度方向上测量误差标准差为0.4609m,高度方向上测量误差标准差为1.0766m。

Research on Low-cost GNSS Heading Determination System for Ship

Global Navigation Satellite System consists of GPS, GLONASS, Galileo and BDS satellites. Customers will have been able to receive signals from more than 40 satellites by 2020, which would lead to great improvements of GNSS performance and the extension of its application fields. Based on the actual utility situation of GNSS receiver, and in order to determine the heading of the target ship and fishing fleet, this paper designs a low-cost GNSS heading determination system. Firstly, prototype hardware platform is designed using two Ublox LEA-M8T modules and a STM32F407 ARM MCU. Secondly, researches on real time kinematic and real time differential algorithms based on Kalman Filter method are carried out. Finally, static test results show the flowing performances: using 8.5m baseline, the standard deviation of yaw and pitch are 0.0396° and 0.0889° respectively with real time kinematic algorithm. The standard deviation of measurement along latitude, longitude, height are 0.5923m, 0.4609m and 1.0766m respectively