带有加权基线长约束的GPS/BDS单历元姿态解算算法研究

Research on the Single Epoch GPS/BDS Attitude Determination with Weighted Baseline Length Constraint

研究基于GNSS信号的实时载体动态姿态测量算法具有重要意义,多频多模姿态测量算法是目前的研究热点和难点。本文提出一种基于GPS L1/L2和BDS B1三频点观测数据进行联合定姿的新算法,可实现单历元整周模糊度解算,且该算法对周跳不敏感,克服了单频点定姿可靠性差、精度低的缺点。针对多频多模观测时天线相位中心的差异性问题,采用基于加权基线长度约束和上下边界函数的方法实现整周模糊度搜索空间的压缩,提高了整周模糊度解算的效率。最后基于实际测试数据评估定姿精度,实验表明,采用L1/L2/B1三频点联合估计,航向角和俯仰角的精度可达0.1?/m和0.2?/m,比单频观测的精度高约2倍。

Real-time dynamic attitude determination using GNSS signal is of great significance for the vehicles. The attitude determination algorithm utilizing multi-frequency multi-mode observation is the point for the current research. A new method combining GPS L1/L2 and BDS B1 was given in this paper and the integer ambiguity resolution can be achieved in single epoch, which is insensitive to cycle slips and has a higher reliability and accuracy than that of single frequency attitude determination. To deal with the difference of the antenna phase center for different frequency point, a scheme with weighted baseline length constraint was proposed, which shrinks the space of ambiguity search utilizing the upper and lower boundary functions. Thus, the efficiency of ambiguity resolution had been improved. At last, the assessment was achieved for the accuracy of attitude determination based on the actual data and the experiment demonstrates that the accuracy of heading can reach 0.1 degree/meter and the accuracy of elevation can reach 0.2 degree per meter for L1/L2/B1 triplefrequency observation and it is two times higher than that of the single frequency observation.