摘要
针对基于单频载波相位的动对动相对定位中实时模糊度固定可靠性不高的问题,提出了一种基于DGNSS/INS紧组合的平滑惯导辅助模糊度解算策略,以提高低成本接收机高精度定位的普适性。首先,基于伪距和载波相位观测量构建动对动相对定位模型;其次,对惯性导航数据进行卡尔曼滤波处理,并利用滤波平滑后的惯导位置预测卫地距重构双差观测方程并构造惯导位置约束方程,继而获得较高精度浮点解及其协方差阵,采用LAMBDA算法进行整周模糊度固定及Ratio检验;最后,由DGNSS/INS紧组合算法对惯性误差进行反馈校正,以维持惯性高精度导航。实测数据实验结果表明,对比没有惯导辅助、有惯导辅助和经滤波平滑后的惯导辅助结果,本文方法可以有效地提高模糊度浮点解精度,减小模糊度搜索空间,提升整周模糊度固定成功率,三种方法下模糊度固定成功率分别为92.3%、99.1%和99.6%,并最终实现厘米级动态相对定位。
Aiming at the problem of low reliability of real-time ambiguity fixation in kinematic-to-kinematic relative positioning based on single-frequency carrier phase, a DGNSS/INS-based smoothed INS-aided ambiguity resolution strategy for kinematic-to-kinematic relative positioning was proposed, to improve the universality of high precision positioning for low cost receivers. Firstly, a kinematic-to-kinematic relative positioning model was established based on double-difference(DD) pseudorange and carrier phase observations. Secondly, a Kalman filtering was applied to the inertial navigation data, and the DD observation equations were reconstructed using the prediction pseudorange by filtered INS-derived position. Meanwhile, the INS-derived position constraint equation was complemented. The high precision ambiguity float solutions and their covariance matrix were obtained, then LAMBDA algorithm was used to fix the ambiguity and ratio test was conducted. Finally, the INS errors were feedback corrected by DGNSS/INS tightly coupled Kalman filtering results to maintain INS high precision navigation. The experimental results of testing data show that the method adopted can effectively increase the accuracy of ambiguity float solution, reduce the search space for ambiguity, and improve the success rate of ambiguity fixation. By comparing the results of without INS aided, with INS aided and with smoothed INS-aided, the success rate of the three methods were 92.3%, 99.1% and 99.6%, respectively, and finally achieve dynamic relative positioning in centimeters.
作者
吴玲
孙永荣
付希禹
WU Ling;SUN Yong-rong;FU Xi-yu(Navigation Research Center,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China;School of Mechatronical Engineering and Automation of Nanhang Jincheng College,Nanjing University of Aeronautics and Astronautics,Nanjing 211156,China)
出处
《科学技术与工程》
北大核心
2022年第23期10138-10145,共8页
Science Technology and Engineering
基金
国家自然科学基金(61973160)
江苏省普通高校研究生科研创新计划(KYLX15_0276)。
关键词
惯性导航
整周模糊度
动对动
DGNSS
卡尔曼滤波
inertial navigation
integer ambiguity
kinematic-to-kinematic
DGNSS
Kalman filtering
