双星定姿的建模与仿真

提出一种新的双星定姿方法,即利用２颗地球同步卫星载波信号测定运动载体的姿态,文中就双星定姿原理及精度进行了深入探讨。计算机仿真试验表明,当载波相位单差观测值均方差为０．０２周,天线阵列为１ｍ×１ｍ时,双星定姿均方差可达偏航０．２３°,俯仰０．１８°。     

双星定姿技术试验研究

本文深入探讨了双星定姿方法,仅利用2颗GPS卫星进行了实际的双星定姿试验.文中综合应用长短基线法和序列优化法求解整周模糊度.试验结果表明,当基线长约1m时,该方法定姿成功率达90%以上,定姿均方差优于0.5°      

航天器应急姿态捕获中GPS信号的应用

星载全球定位系统（GPS）卫星接收机在测量接收各GPS卫星信号时,可同时得到接收信号的信号强度测量辅助数据E。理论分析表明,接收信号的强度E与信号入射天线的法向夹角α强相关。如建立E与α稳定的先验模型,E就可以作为测量值,计算入射天线的角度α。在同一时刻,通过三个以上GPS卫星信号入射天线的角度α,可计算星载GPS卫星接收机接收天线的空间姿态。确定姿态的精度取决于E与α相关先验模型的稳定性。利用CHAMP卫星星载接收机在轨实测数据检验,估算的初始姿态精度为2°~3°。该方法可作为航天器故障状态下应急姿态捕获的一种辅助手段,也可为携带星载GPS而无高精度定姿要求的简易航天器提供一种新的无附加成本的定姿途径。     

基于载波相位三差的航天器GPS/INS组合定姿算法

研究了一种利用GPS载波相位三差观测信息的多天线GPS/INS组合定姿算法,其中包含一个基于惯性测量信息的GPS载波相位周跳检测算法。最后,通过仿真分析验证了该组合算法可以有效提高定姿精度,同时具有较好的稳定性。     

基于双GPS接收机的精密定向研究

GPS定位系统除了可以进行定位、测速和授时外 ,还可以利用两个或多个GPS测量值进行方位测量和三轴姿态测量。文章对利用两块GPSOEM板同步接收的载波相位观测量来精密测定方位进行了深入研究。首先利用载波相位的双差观测方程 ;再根据两个天线间距离已知这个条件 ,对方位和俯仰进行二维搜索 ,并采用了模糊度函数作为搜索的判断依据 ;最后根据最小二乘计算出两个天线的基线矢量 ,从而最终计算出精密的方位值和俯仰角。经过大量的试验表明 ,该算法是切实可行的 ,在 5m基线下 ,方位精度达到 0 0 8°,而且定向时间一般只需 1min左右     

基于GPS载波相位的微卫星姿态算法研究

GPS姿态系统是利用GPS载波相位测量来确定载体的航向和姿态角。本文对微卫星的GPS姿态系统进行了研究。重点解决短基线的GPS状态算法，讨论了姿态价格函数的了小化方法。测试结果表明，所提的算法对小于1m的基线是有效的。     

利用GPS载波相位实时测定动态飞行器姿态

本文阐述了利用GPS载波相位信号进行实时飞行器姿态测定的基本思想,建立了整个系统实时确定载体姿态的数学模型;给出了动态整周模糊单差的求解过程,阐明了其物理意义．     

利用GNSS反射信号载波测量湖面高度变化

给出一种利用导航卫星反射信号的载波相位测量光滑湖面高度变化的方法.首先建立载波相位观测方程,通过在直射与反射信号的观测量之间求单差,再在历元间求双差的方法,消除了大量误差并得到了直射与反射信号的几何路径差;然后根据各颗卫星的观测值和高度角等信息计算出湖面高度变化,并把各卫星得到的湖面高度度变化值进行加权平均以提高测量系统的精度和可靠性.仿真验证了方法在-15dB信噪比下达到了毫米级的测量精度.     

星载GPS低轨卫星几何法精密定轨研究

本文讨论了星载ＧＰＳ接收机为单频情形的代轨卫星几何法定轨,包括载波一相对定轨法和动态网定轨法,并利用Ｔｏｐｅｘ／Ｐｏｓｅｉｄｏｎ卫星星载ＧＰＳ实测数据中Ｌ１载波相位观测值进行验证,结果表明,载波相位相对定轨精度与地面基准站的观测质量有关,其三轨道位置精度为分米级;载波相位动态风定轨精度介于各基准站皮相位相对定轨之间,它相当于在各基准站相对定轨之间加权均衡,而且提高了定轨的可靠性。     

联合CDGPS技术和星间相对测量进行编队星座状态确定

以空间圆3星编队星座为对象,建立了联合GPS载波相位差分(Carrier phase Differential GPS,CDGPS)和星间相对测量进行编队星座状态确定的数学模型;利用高精度的星间相对测量信息给星间公里级基线提供厘米级约束,极大地缩小了星间单差模糊度的搜索空间,进而在卫星无需机动的情况下采用Bayes最小二乘法快速解算出星间GPS载波相位单差整周模糊度;最后数学仿真证明了方法的有效性,结果表明卫星间相对位詈确定精度达10^-2m．卫星姿态确定精度达10^-3rad．     

Virtual baseline method for Beidou attitude determination – An improved long-short baseline ambiguity resolution method

Ambiguity resolution (AR) is a critical step for successful attitude determination using carrier phase measurements of a satellite navigation system such as Beidou. This paper proposes an improved method for AR in support of Beidou attitude determination based on the concept of a “virtual baseline”. In the traditional long-short baseline method, the short baseline is limited to a length less than half of the carrier wave length of the Beidou signals. In the proposed method, a virtual short baseline is formed by differencing two collinear baselines. The AR equations for virtual short and long baselines are derived and the factors impacting the AR accuracy are analysed. Numerical simulation studies were carried out to evaluate the performance of the proposed AR method. The simulation results confirmed that the proposed method is an improvement over the traditional approach -- not only is it easier to deploy collinear antennas but also it keeps the capability of epoch-by-epoch AR, which makes it immune to cycle slips and there is no need for initialisation of ambiguity searching.     

GPS实时定姿系统的设计与实现

以GPS OEM板为基本硬件,在自行研制GPS实时定姿软件的基础上,搭建了GPS实时定姿系统。该系统硬件结构简单,成本低廉。定姿软件解决了数据接收、解码、同步,模糊数快速计算,动态检校等关键技术。经多次静态、动态试验验证,系统运行稳定,动态跟踪性能良好。基线长度为1.2m时,定姿精度优于0.3°,可单独用于系统的导航,或作为系统导航设备的校准装置,具有很好的应用价值。     

对地指向偏差为约束的卫星平稳对日定向方法

传统以对地指向偏差为约束的对日定向方法在星-日、星-地连线的夹角达到极值后，卫星期望姿态会发生大幅度快速翻转，导致较大的峰值功耗和寿命损伤。针对该现象，提出了一种可使期望姿态平稳变化的以对地指向偏差为约束的对日定向方法，将卫星的期望姿态设置为绕一基准姿态周期性地旋转。在不显著牺牲对日定向效能的同时，既确保卫星期望对地轴与对地方向的夹角小于约束角，又使得卫星姿态总体平稳变化。数值仿真表明:所提出的平稳对日定向方法能够大幅降低卫星期望角速度的峰值，同时能够满足对日指向和对地指向的需求。      

基于频偏校正的频率估计算法误差分析

介绍了基于频偏校正的频率估计算法原理,给出了算法在高斯白噪声背景下进行复正弦信号频率估计的标准差计算公式.在采样点数为N的情况下,对m的取值进行优化,得到当m取最接近N/3的整数时,算法的标准差达到最小值.Monte Carlo仿真试验结果表明:m取最接近N/3的整数时,频偏校正算法的标准差小于比值法(加汉宁窗)和相位差法,且在偏离FFT(Fast Fourier Transforms)离散谱线的频率变化范围内比较平缓.当信噪比较大时,优化取值后的算法标准差比m取最接近N/2的整数时小,且更加逼近克拉美-劳下限.     

一种基于自适应滤波的GPS滚转角估计方法

全球定位系统（GPS）测姿技术主要是利用GPS载波相位和信号功率2种方法,但是测量信息单一且独立,针对旋转载体的测姿问题,提出一种基于自适应滤波的GPS滚转角估计方法,通过融合GPS接收机天线信号功率和多普勒频率信息测量载体滚转角和滚转角速度。利用当前统计模型对滚转角和滚转角速度测量进行系统建模,根据滚转角预测估计值选取量测量,并提出自适应滤波,采用滚转角加速度估计自适应滤波算法,实现了对系统噪声方差阵的自适应调整,避免了滚转角加速度最值的选取问题,降低了噪声的影响。通过仿真验证了基于自适应滤波的GPS滚转角估计方法的可行性,结果表明该方法的测量精度高于无迹卡尔曼滤波（UKF）。      

Fast calibration of between-receiver GPS/Galileo/BDS differential phase bias with millimeter accuracy based on short baseline mode

The differential code and phase biases induced by the receiver hardware (including receiver, antenna, firmware, etc.) of the Global Navigation Satellite System (GNSS) have significant effects on precise timing and ionosphere sensing, thus deserve careful treatment. In this contribution, we propose an approach to fast fix the single-difference ambiguity to finally obtain the unbiased estimates of between-receiver differential phase bias (BR-DPB) and between-receiver differential code-phase bias (BR-DCPB) based on the short baseline mode. The key to this method is that the error sources can be significantly eliminated due to the length of the baseline is very short. At the same time, the empirical constraints and random characteristics of BR-DPB/BR-DCPB were considered, which is conducive to the resolution of single-difference ambiguity. Several sets of GNSS data (GPS L1/L2, Galileo E1/E5b, and BDS B1/B3), recorded by the short baselines in an interval of 30 s and covered a broad range of receiver/antenna types (JAVA, SEPT, LEIC, and TRIM), were used to verify the effectiveness of the proposed method. The numerical tests show that the proposed method is capable of fast fixing the single-difference ambiguity successfully within a few epochs and then providing the unbiased estimates of BR-DPB and BR-DCPB in an epoch-by-epoch manner. Experiments show that the estimated BR-DPB is in millimeter accuracy, which is of great significance for the millimeter-accuracy phase time transfer and ionospheric delay estimation. Furthermore, the calibrated BR-DPB/BR-DCPB can be treated as the known products for long-distance precise timing and ionosphere sensing based on the inter-station single-difference model.     

Testing a new multivariate GNSS carrier phase attitude determination method for remote sensing platforms

GNSS (Global Navigation Satellite Systems)-based attitude determination is an important field of study, since it is a valuable technique for the orientation estimation of remote sensing platforms. To achieve highly accurate angular estimates, the precise GNSS carrier phase observables must be employed. However, in order to take full advantage of the high precision, the unknown integer ambiguities of the carrier phase observables need to be resolved. This contribution presents a GNSS carrier phase-based attitude determination method that determines the integer ambiguities and attitude in an integral manner, thereby fully exploiting the known body geometry of the multi-antennae configuration. It is shown that this integral approach aids the ambiguity resolution process tremendously and strongly improves the capacity of fixing the correct set of integer ambiguities. In this contribution, the challenging scenario of single-epoch, single-frequency attitude determination is addressed. This guarantees a total independence from carrier phase slips and losses of lock, and it also does not require any a priori motion model for the platform. The method presented is a multivariate constrained version of the popular LAMBDA method and it is tested on data collected during an airborne remote sensing campaign.