摘要
GNSS船姿测量以其观测误差不随时间累积的特点得到了广泛研究和应用,本文基于三天线GNSS船姿测量方式,构建了波束脚印误差与姿态误差间的关系模型,设计仿真实验分析了基线长度对姿态误差的影响,以及不同水深环境下姿态误差与GNSS定位误差的关系。为突破传统RTK在测量距离上的限制,本文采用PPP、PPK、MBD (动态参考站差分)三种方法进行GNSS船姿计算,并通过海上实验与高精度惯性导航系统进行对比分析,结果表明使用MBD测姿结果要优于PPK和PPP模式,得到的航偏角、横摇角、纵摇角标准差均在0.1°左右,可满足通常情况下多波束测深对姿态精度的要求。
The GNSS attitude measurement is widely studied and applied because its observation error does not accumulate with time. In this paper, based on the principal of ship attitude measurement with three GNSS antenna, we set up the model of beam footprint error change with attitude en＇or, designed the simulation analysis on the effect of baseline length on attitude error and the relationship between attitude error and GNSS positioning error in different depths. To break through the limitations of traditional RTK in measuring distance, three methods of PPP, PPK and MBD （Moving Base Station Difference） were applied in this paper for GNSS ship attitude calculation and compared with the high precision inertial navigation system in the sea experiment. Results prove that when using MBD pose measurement the result is superior to the PPK and the PPP model, moreover the heading, roll and pitch standard deviation are around 0.1°, which can meet multi- beam sounding accuracy requirement of position in normal circumstances.
作者
王发省
张鹏飞
辛明真
杜凯
阳凡林
WANG Fa-xing;ZHANG Peng-fei;XIN Ming-zhen;DU Kai;YANG Fan-lin(College of Geomatics,Shandong University of Science and Technology,Qingdao 266590,China;Key Laboratory of Surveying and Mapping Technology on Island and Reef,National Administration of Surveying,Mapping and Geoinformation,Qingdao 266590,China)
出处
《海洋通报》
CAS
CSCD
北大核心
2018年第5期529-536,共8页
Marine Science Bulletin
基金
国家重点研发计划(2016YFB0501700
2016YFB0501705)
山东省重点研发计划项目(2018GHY115002)
关键词
GNSS测姿
姿态误差
波束脚印误差
定位误差
惯性导航系统
GNSS measuring posture
attitude error
beam footprint error
positioning error
inertial navigationsystem
