曲面薄壁零件柔性装配定位系统设计与实现

针对曲面薄壁零件装配过程中存在定位难、易变形的问题进行了研究,建立了基于多点技术以及数字化虚拟装配技术的曲面薄壁零件柔性装配定位系统,实现了薄壁零件定位可靠、不易变形的柔性装配。研究提出了曲面定位点坐标的求解方法,并按照该方法提取工件曲面的几何信息,确定装配定位点,将定位点的坐标转化为定位系统的坐标,形成坐标转换矩阵,将转换矩阵中坐标的位移量转化为伺服电机的转动量。研究结果为更有效解决柔性工装的优化设计问题提供了必要依据。     

一种区域定位系统的概念

区域定位系统是一种与GPS兼容的地基导航系统，可以完成轨道飞行器乃至弹道试验的定位和定轨任务。区域定位系统由若干地基导航发射台（也可增加一、二个天基导航台）网和卫星载接收机组成。其定位精度估计在100m以内，如地面导航台网与GPS差分导航台结合起来，将会发挥更大作用。     

Extending multipath hemispherical model to account for time-varying receiver code biases

Multipath effects on code observables account for one of the major error sources in high-accuracy Global Positioning System (GPS)-based positioning, atmosphere sounding and timing applications. The multipath hemispherical model (MHM) represents one of the most widely used methods of mitigating code multipath effects by taking advantage of their spatial repeatability. The use of MHM usually assumes that the receiver code biases (RCBs) are time-invariant; however, this assumption is not always valid, as RCBs and linear combinations thereof (differential code biases, for instance) have long been found to be time-varying over a period of one day. In this contribution, we propose an extended multipath hemispherical model (EMHM) that is capable of mitigating the code multipath effects in the presence of time-varying RCBs. Consequently, the proposed EMHM has two advantages. First, the EMHM gives rise to code multipath corrections with improved reliability because it addresses the intraday variability of RCBs. Second, more interestingly, the EMHM allows easy and effective calibration of short-term temporal variations, if any, in the RCB on each frequency. These advantages are hopeful to benefit GPS code-related applications.     

星载GPS天线相位中心偏差对定位精度影响的试验方法研究

介绍星载GPS天线相位中心偏差的概念,简要分析GPS天线相位中心变化对GPS定位精度的影响,并建立相应的数学模型。利用已有的多台星载GPS天线、载波相位测量方式的星载GPS接收机,进行GPS天线相位中心偏差测试以及接收机绝对定位精度、相对定位精度测试,测量、统计天线相位中心偏差与GPS接收机绝对定位精度和相对定位精度的对应数据,对误差模型进行验证。     

基于UKF的GPS定位算法

针对EKF通过局部线性化方法处理非线性问题可能产生的精度下降问题,提出了用UKF进行GPS定位解算的方法.介绍了UKF方法的原理,分析了GPS伪距方程的线性化近似误差和定位精度的关系,并讨论了利用UKF进行定位解算的有效性.采用"当前"模型,利用伪距和多普勒观测量进行定位解算.利用Spirent GPS 模拟器和NovAtel差分定位系统及NovAtel接收机分别进行了仿真实验和现场实验.结果表明,当滤波器状态初值误差较大时,UKF与EKF相比有明显的优势.     

An improved approach to model ionospheric delays for single-frequency Precise Point Positioning

PPP with low-cost, single-frequency receivers has been receiving increasing interest in recent years because of its large amount of possible users. One crucial issue in single-frequency PPP is the mitigation of ionospheric delays which cannot be removed by combining observations on different frequencies. For this purpose, several approaches have been developed, such as, the approach using ionospheric model corrections with proper weight, the GRAPHIC (Group and Phase Ionosphere Calibration) approach, and the method to model ionospheric delays over a station with a low polynomial or stochastic process. From our investigation on the stochastic characteristics of the ionospheric delay over a station, it cannot be precisely represented by either a deterministic model in the form of a low-order polynomial or a stochastic process for each satellite, because of its strong irregular spatial and temporal variations. Therefore, a novel approach is developed accordingly in which the deterministic representation is further refined by a stochastic process for each satellite with an empirical model for its power density. Furthermore, ionospheric delay corrections from a constructed model using GNSS data are also included as pseudo-observations for a better solution. A large data set collected from about 200 IGS stations over one month in 2010 is processed with the new approach and several commonly adopted approaches for validation. The results show its significant improvements in terms of positioning accuracy and convergence time with a negligible extra processing time, which is also demonstrated by data collected with a low-cost, handheld, single-frequency receiver.     

Modeling and initial assessment of the inter-frequency clock bias for COMPASS GEO satellites

The COMPASS system is a project established by China to develop an independent global satellite navigation system, which has five GEO (Geostationary Orbit) satellites and thirty Non-GEO satellites. An apparent inter-frequency clock bias (IFCB) for COMPASS GEO satellites is investigated using the real data. The bias also is modeled by the different models. Based on the 15 months (DOY 121, 2011–214, 2012) single-day-estimated results, the periodic variation of IFCBs of the COMPASS GEO satellite is studied using a harmonic analysis. The notable periods of 12 h and 8 h are noted. The harmonics-based models with different periods and different orders and quadratic function based model are used to describe the IFCB. The performances show that the 4-order harmonics-based model with the periods of 24, 12, 8 and 6 h is most optimal than others for describing the IFCB of COMPASS GEO satellite. Its amplitudes and phases estimated from a least square fit are used to study the features of the IFCB. The results show that the current amplitudes and phases do not present special features. Although the irregular amplitudes and phases of the model are disadvantageous for the long-term prediction of IFCB, it is obvious that the modeling IFCB can simple its service and a few of coefficients can replace the IFCB series. The performance of the model in short-term prediction IFCB is tested using the ten-day data (DOY 215-224, 2012).     

A real-time ionospheric model based on GNSS Precise Point Positioning

This paper proposes a method of real-time monitoring and modeling the ionospheric Total Electron Content (TEC) by Precise Point Positioning (PPP). Firstly, the ionospheric TEC and receiver’s Differential Code Biases (DCB) are estimated with the undifferenced raw observation in real-time, then the ionospheric TEC model is established based on the Single Layer Model (SLM) assumption and the recovered ionospheric TEC. In this study, phase observations with high precision are directly used instead of phase smoothed code observations. In addition, the DCB estimation is separated from the establishment of the ionospheric model which will limit the impacts of the SLM assumption impacts. The ionospheric model is established at every epoch for real time application. The method is validated with three different GNSS networks on a local, regional, and global basis. The results show that the method is feasible and effective, the real-time ionosphere and DCB results are very consistent with the IGS final products, with a bias of 1–2 TECU and 0.4 ns respectively.     

卫星导航信号监测技术

卫星导航信号监测技术是导航系统监测站的核心内容。文中介绍一种实时性强、处理精度高、可靠性好的导航信号监测技术,对监测接收机输出的实时观测数据和导航信号进行分析、处理,给出其合理性、完好性和定位精度分析,同时输出该原始数据。通过在卫通设备上实现伪距精密测量、设备时延精确校定,监测站能够配合导航系统进行站间时间同步,同步精度小于3ns。     

一种定位系统的定位精度衰减因子

介绍在一种定位系统中几何精度因子(GDOP)值的计算方法,利用这种方法计算在地面布站个数、布站边长以及飞行器飞行高度等因素影响下的GDOP值,由此分析出这些因素对GDOP值的影响,最终提出该系统的布站策略和提高定位精度的优化方案。