基于GPS伪距单差的舰船相对导航方法

Relative navigation between vessels based on GPS single difference

为了测量编队航行中的舰船相对位置信息,从而进行相对导航,研究采用GPS卫星的伪距信息,通过编队通信链,交换目标船和跟踪船的观测到相同卫星的伪距信息,进行伪距单差差分。以伪距差分信息作为观测量,以跟踪船相对目标船的位置信息作为状态量,建立了跟踪船相对目标船的位置信息解算模型,利用最小二乘法解算跟踪船相对目标船的位置信息,以满足编队舰船间的相对导航信息需求。将相对位置信息解算模型和方法应用于实测试验,数据处理结果表明,相对距离测量精度优于0.2 m,方位精度优于5°,相对距离信息完全满足了舰船相对导航的需求,相对方位信息基本满足舰船相对导航的需求。

In order to get relative position information during flotilla navigation, GPS pseudo-range information was observed and exchanged between two vessels via flotilla communication link to get single difference. The single difference was used to establish the relative navigation model between two vessels as observation measurement. The relative position information such as relative distance and bearings was taken as state measurements, and the least multiply square algorithm was applied to resolve the relative vector between the two vessels. The relative distance and bearings between two vessels in WGS84 coordinate frame system is calculated, and experiments were carried out. The data processing results show that the relative distance determination accuracy is prior to 0.2 m, and the bearings determination accuracy is prior to 5°. The results verify that the relative navigation model between two vessels is feasible, and the accuracy reaches the performance requirement of relative navigation.