基于GPS载波相位差分技术的全组合导航方法研究
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摘要
卫星/捷联惯导组合导航技术因具有互补性强、成本低、精度可靠等特点日益成为组合导航领域研究的热点。本文应用GPS载波相位应用技术的研究成果,从理论和试验两个方面对卫星/捷联惯导组合导航方案进行了研究。
在理论上,针对低精度捷联惯导系统与GPS构成的组合系统进行了可观性分析,分析和验证了方案的可行性。在此基础上,对低精度捷联惯导系统的误差方程进行了推导,建立了组合导航系统滤波器状态方程,并结合GPS定位、高精度测速及定姿结果建立了观测方程。论文进一步针对GPS观测环境较差情况下,根据陆地运动载体的非完整约束,建立了等效观测方程,提高了组合导航系统可观性。
论文利用Novatel OEMV-4 GPS接收机、Novatel 701型零相位天线和光纤陀螺捷联惯导系统进行了大量实验,有效地验证了全组合导航理论。实验结果表明,采用载波相位时间差分测速技术和非完整约束方法,全组合导航系统的航向精度优于0.03°,水平姿态精度优于0.05°。实验验证了在GPS观测环境较差情况下,车载动态条件下卫星/惯导组合导航系统可以得到高精度的航向、姿态信息,对提高动态通讯、跟踪具有重要的应用价值。
Global Position System/Strapdown Inertial Navigation System (GPS/SINS) integrated navigation technology has become a hot topic in integrated navigation for its strong mutual complementation, low cost and precision. The paper has studied the GPS/SINS integrated navigation scheme from the theory and experiment based on the GPS carrier phase technology.
In theory, the paper has analyzed the observability of GPS and low precision SINS integrated navigation system and validated the feasibility. Besides that, the paper has deduced the error equation of low precision SINS and built the integrated navigation filter equation. Combining the results of GPS location, high precision velocity measurement and attitude determination, we have built the observe equation. In addition, the scheme has built equivalent observe equation in which the observe environment of GPS is of a sort based on the nonholonomic constraint of the terrestrial vehicle.
In experiment, we have done a great deal of experiment with Novatel OEMV-4 GPS Receiver, Novatel 701 zero phase antenna and a 2°/h Fiber Optic Gyroscope (FOG) SINS and proved that the scheme of complete integrated navigation is effective. Using the carrier phase time difference velocity measurement technology and nonholonomic constraint, the results of the experiments showed that the precision of course attitude come up to 0.03°and the precision of level attitude come up to 0.05°. Considering the above results, the GPS/SINS integrated navigation system output high-precision attitude information in dynamic vehicle conditions in which the observe environment of GPS is normal or of a sort, but it's great valuable in updating the capability of tracking satellite signal and keeping communication in dynamic vehicle conditions.
在理论上,针对低精度捷联惯导系统与GPS构成的组合系统进行了可观性分析,分析和验证了方案的可行性。在此基础上,对低精度捷联惯导系统的误差方程进行了推导,建立了组合导航系统滤波器状态方程,并结合GPS定位、高精度测速及定姿结果建立了观测方程。论文进一步针对GPS观测环境较差情况下,根据陆地运动载体的非完整约束,建立了等效观测方程,提高了组合导航系统可观性。
论文利用Novatel OEMV-4 GPS接收机、Novatel 701型零相位天线和光纤陀螺捷联惯导系统进行了大量实验,有效地验证了全组合导航理论。实验结果表明,采用载波相位时间差分测速技术和非完整约束方法,全组合导航系统的航向精度优于0.03°,水平姿态精度优于0.05°。实验验证了在GPS观测环境较差情况下,车载动态条件下卫星/惯导组合导航系统可以得到高精度的航向、姿态信息,对提高动态通讯、跟踪具有重要的应用价值。
Global Position System/Strapdown Inertial Navigation System (GPS/SINS) integrated navigation technology has become a hot topic in integrated navigation for its strong mutual complementation, low cost and precision. The paper has studied the GPS/SINS integrated navigation scheme from the theory and experiment based on the GPS carrier phase technology.
In theory, the paper has analyzed the observability of GPS and low precision SINS integrated navigation system and validated the feasibility. Besides that, the paper has deduced the error equation of low precision SINS and built the integrated navigation filter equation. Combining the results of GPS location, high precision velocity measurement and attitude determination, we have built the observe equation. In addition, the scheme has built equivalent observe equation in which the observe environment of GPS is of a sort based on the nonholonomic constraint of the terrestrial vehicle.
In experiment, we have done a great deal of experiment with Novatel OEMV-4 GPS Receiver, Novatel 701 zero phase antenna and a 2°/h Fiber Optic Gyroscope (FOG) SINS and proved that the scheme of complete integrated navigation is effective. Using the carrier phase time difference velocity measurement technology and nonholonomic constraint, the results of the experiments showed that the precision of course attitude come up to 0.03°and the precision of level attitude come up to 0.05°. Considering the above results, the GPS/SINS integrated navigation system output high-precision attitude information in dynamic vehicle conditions in which the observe environment of GPS is normal or of a sort, but it's great valuable in updating the capability of tracking satellite signal and keeping communication in dynamic vehicle conditions.
引文
[1]W. J. Terrell, Local Observability of Nonlinear Differential-Algebraic Equations(DAEs) From the Linearization Along a Trajectory, IEEE Trans, on Automatic Control,2001, vol.46(12), pp.1947-1950.
[2]J.-H. Wang, Intelligent MEMS INS/GPS Integration For Land Vehicle Navigation,Ph.D thesis, Calgary, Alberta:Department of Geomatics Engineering,University of Calgary, 2006.
[3]董绪荣,张守信,华仲春,GPS/INS组合导航定位及其应用,长沙：国防科技大学出版社,1998.
[4]张守信.GPS技术与应用.国防工业出版社.2004年7月.
[5]D. H. Titterton and J. L. Weston, Strapdown Inertial Navigation Technology Second Edition, Lexington,Massachusetts:MIT Lincoln Laboratory,2004.
[6]Gebre F.A Low Cost GPS/Inertial Attitude Heading Reference System (AHRS) for General Aviation Applications.In:IEEE 1998 Position Location and Navigation Symposium-PLANS-1998,Palm Springs,April 20-23,1998.
[7]王鹏,张迎春,基于SINS/GPS组合导航的新技术研究,战术导弹与控制技术,2005,3：56-59
[8]栗瑞江,低成本GPS/SINS组合导航系统研究,西安：西北工业大学,2003
[9]王惠南,GPS导航原理与应用：科学出版社,2003。
[10]高鹏,富立,范跃祖,GPS-DRS-DMAP汽车定位导航系统,北京航空航天大学学报,2002,28(6)：700-702
[11]赵伟,袁信,林雪原,采用H∞滤波器的GPS/INS全组合导航系统研究,航空学报,2002,23(3)：265-267
[12]刘志俭,GPS载波相位差分技术、捷联惯性导航系统初始对准技术及其组合技术研究：国防科技大学博士毕业论文,2003。
[13]李方锁,孙道省.嵌人式深组合导航系统的研究与应用,战术导弹控制技术,2000,33(2)：42-47
[14]袁洪,万卫星,宁百齐,李静年,基于三差解检测与修复GPS载波相位周跳新方法,测绘学报,1998,3(3)：33-39.
[15]岳晓奎,袁建平,区间卡尔曼滤波算法及其在载波相位组合导航中的应用,西北工业大学学报,2005,23(1)：6-10
[16]汤勇刚,何晓峰,吴美平,胡小平,非线性跟踪—微分器在载波相位测速中的应用,兵工自动化,2007(7).
[17]王银华,利用载波相位信息确定载体姿态的技术研究：国防科技大学硕士论文,2000。
[18]常青,刘重堪,张其善,GPS载波相位组合观测值理论研究,航空学报,1998,19(5)：612-616
[19]逯亮清,GPS快速定向技术研究：国防科技大学硕士论文,2001.
[20]B. Phuyal, An Experiment for a 2-D and 3-D GPS/INS Configuration for Land Vehicle Applications,IEEE,2004.
[21]M. Phatak, Position Fix from Three GPS Satellites and Altitude:A Direct Method, IEEE Trabsactions on Aerospace and Electronic Systems,1999, vol.35(1).
[22]韩京清,非线性跟踪—微分器,系统科学与数学,1994,14(2)：177-183.
[23]陈景良,近代分析数学概要,北京：清华大学出版社,1987.
[24]韩京清,一种新型控制器-NLPID,控制与决策,1994,9(6)：401-407.
[25]宋金来,甘作新,韩京清,自抗扰控制技术滤波特性的研究,控制与决策,2003,18(1)：110-119.
[26]Y. X. Su, C. H. Zheng, P. C. Mueller, and B. Y. Duan, A Simple Improved Velocity Estimation for Low-Speed Regions Based on Position Measurements Only, IEEE Transactions on Control Systems Technology,2006, vol.14(5), pp.937-942
[27]J.-H. Wang and Y. Gao, GPS-based Land Vehicle Navigation System Assisted by a Low-Cost Gyro-Free INS Using Neural Network, The Journal of Navigation,2004, vol. 57, pp.417-428.
[28]E.-H. Shin, Accuracy Improvement of Low Cost INS/GPS for Land Applications,Master thesis, Calgary,Alberta:Department of Geomatics Engineering,Calgary University,2001.
[29]王新华,陈增强,袁著祉,全程快速非线性跟踪—微分器,控制理论与应用,2003,20(6)：875-878.
[30]武利强,林浩,韩京清,跟踪微分器滤波性能研究,系统仿真学报,2004,16(4)：651-670.
[31]韩京清,黄远灿,二阶跟踪—微分器的频率特性,数学的实践与认识,2003,33(3)：71-74.
[32]Y Wu, M. Wu, W. Wu, D. Hu, and X. Hu, Autonomous Land Navigation Using Inertial Sensors, Part Ⅰ:Self-calibration for Applications with an Uncalibrated Odometer, submitted to IEEE Trans. on Automatic Control,2006
[33]S. Thrun, D. Fox, W. Burgard, and F. Dellaert, "Robust Monte Carlo localization for mobile robots," Artificial Intelligence, vol.128, pp.99-141,2001.
[34]J. Kronander, Robust Automotive Positioning:Integration of GPS and Relative Motion Sensors,Master thesis, Linkoping:Institutionen for systemteknik,Linkoping University, 2004.
[35]G. Dissanayake, S. Sukkarieh, E. Nebot, and H. Durrant-Whyte, The Aiding of a Low-Cost Strapdown Inertial Measurement Unit Using Vehicle Model Constraints for Land Vehicle Applications, IEEE Transactions on Robotics and Automation,2001, vol. 17(5), pp.731-747.
[36]R. Hermann and A. J. Krener, Nonlinear Controllability and Observability, IEEE Trans. on Automatic Control,1977, vol.22(5), pp.728-740.
[37]F. V. Graas and A. Soloviev, Precise Velocity Estimation Using a Stand-alone GPS Receiver,ION NTM,2003, Anaheim,CA.
[38]L. Serrano, D. Kim, and B.Langley, A GPS Velocity Sensor:How Accurate Can It Be?-A First Look,ION NTM'04,2004, San Diego.
[39]L. Serrano, D. Kim, and R. B. Langley, A Single GPS Receiver as a Real-Time, Accurate Velocity and Acceleration Sensor,ION GNSS 2004,2004.
[40]K. Itani, T. Hayashi, and M. Ueno, Low-Cost Wave Sensor Using Time Differential Carrier Phase Observations,ION GPS 2000,2000, Salt Lake City, UT.
[41]F. M. Ham and R. G. Brown, Observability, Eigenvalues, and Kalman Filtering, IEEE Trans. on Aerospace and Electronic Systems,1983, vol.19(2), pp.269-273.
[42]J.Wendel, O.Meister, R.M"onikes, and G.F.Trommer, Time-Differenced Carrier Phase Measurements for Tightly Coupled GPS/INS Integration,IEEE PLANS'06,2006.
[43]E. Krelndler and P. E. Sarachik, On the Concepts of Controllability and Observability of Linear Systems, IEEE Transactions on Autmatic Control,1964, pp.129-136.
[44]Gustafson D, Dowdle J, Flueckiger K. A high Anti-Jam GPS-Based Navigator[A]. In: ION NTM 2000[C]. Fairfax VA:U S Institute of Navigation, Inc.2000.438-446
[45]W. Abdel-Hamid, T. Abdelazim, N.El-Sheimy et al, Improvement of MEMS-IMU GPS performance using fuzzy modeling, GPS Solution, Vol.10, No.1,1-11,2006.
[46]J.-H. Wang, Intelligent MEMS INS/GPS Integration for Land Vehicle Navigation, University of Calgary, Doctor Dissertation, Calgary,2006.
[47]Saurabh Godha, Performance Evaluation of Low Cost MEMS-Based IMU Integrated With GPS for Land Vehicle Navigation Application, University of Calgary, Master Dissertation, Calgary,2006.
[48]Gamini Dissanayake, Salah Sukkarieh, EduardoNebot et al, The Aiding of a Low-Cost Strapdown Inertial Measurement Unit Using Vehicle Model Constraints for Land Vehicle Applications, IEEE Transactions on Robotics and Automation, Vol.17, No.5, 731-748,2001.
[49]D. Goshen-Meskin and I. Y. Bar-Itzhack, Observability Analysis of Piece-Wise Constant Systems-Part Ⅰ:Theory, IEEE Trans. on Aerospace and Electronic Systems, 1992, vol.28(4), pp.1056-1067.
[50]Y. Wu, M. Wu, W. Wu, X. Hu, and D. Hu, Global Observability Analysis of Inertial Navigation Systems, submitted to Automatica,2007.
[2]J.-H. Wang, Intelligent MEMS INS/GPS Integration For Land Vehicle Navigation,Ph.D thesis, Calgary, Alberta:Department of Geomatics Engineering,University of Calgary, 2006.
[3]董绪荣,张守信,华仲春,GPS/INS组合导航定位及其应用,长沙：国防科技大学出版社,1998.
[4]张守信.GPS技术与应用.国防工业出版社.2004年7月.
[5]D. H. Titterton and J. L. Weston, Strapdown Inertial Navigation Technology Second Edition, Lexington,Massachusetts:MIT Lincoln Laboratory,2004.
[6]Gebre F.A Low Cost GPS/Inertial Attitude Heading Reference System (AHRS) for General Aviation Applications.In:IEEE 1998 Position Location and Navigation Symposium-PLANS-1998,Palm Springs,April 20-23,1998.
[7]王鹏,张迎春,基于SINS/GPS组合导航的新技术研究,战术导弹与控制技术,2005,3：56-59
[8]栗瑞江,低成本GPS/SINS组合导航系统研究,西安：西北工业大学,2003
[9]王惠南,GPS导航原理与应用：科学出版社,2003。
[10]高鹏,富立,范跃祖,GPS-DRS-DMAP汽车定位导航系统,北京航空航天大学学报,2002,28(6)：700-702
[11]赵伟,袁信,林雪原,采用H∞滤波器的GPS/INS全组合导航系统研究,航空学报,2002,23(3)：265-267
[12]刘志俭,GPS载波相位差分技术、捷联惯性导航系统初始对准技术及其组合技术研究：国防科技大学博士毕业论文,2003。
[13]李方锁,孙道省.嵌人式深组合导航系统的研究与应用,战术导弹控制技术,2000,33(2)：42-47
[14]袁洪,万卫星,宁百齐,李静年,基于三差解检测与修复GPS载波相位周跳新方法,测绘学报,1998,3(3)：33-39.
[15]岳晓奎,袁建平,区间卡尔曼滤波算法及其在载波相位组合导航中的应用,西北工业大学学报,2005,23(1)：6-10
[16]汤勇刚,何晓峰,吴美平,胡小平,非线性跟踪—微分器在载波相位测速中的应用,兵工自动化,2007(7).
[17]王银华,利用载波相位信息确定载体姿态的技术研究：国防科技大学硕士论文,2000。
[18]常青,刘重堪,张其善,GPS载波相位组合观测值理论研究,航空学报,1998,19(5)：612-616
[19]逯亮清,GPS快速定向技术研究：国防科技大学硕士论文,2001.
[20]B. Phuyal, An Experiment for a 2-D and 3-D GPS/INS Configuration for Land Vehicle Applications,IEEE,2004.
[21]M. Phatak, Position Fix from Three GPS Satellites and Altitude:A Direct Method, IEEE Trabsactions on Aerospace and Electronic Systems,1999, vol.35(1).
[22]韩京清,非线性跟踪—微分器,系统科学与数学,1994,14(2)：177-183.
[23]陈景良,近代分析数学概要,北京：清华大学出版社,1987.
[24]韩京清,一种新型控制器-NLPID,控制与决策,1994,9(6)：401-407.
[25]宋金来,甘作新,韩京清,自抗扰控制技术滤波特性的研究,控制与决策,2003,18(1)：110-119.
[26]Y. X. Su, C. H. Zheng, P. C. Mueller, and B. Y. Duan, A Simple Improved Velocity Estimation for Low-Speed Regions Based on Position Measurements Only, IEEE Transactions on Control Systems Technology,2006, vol.14(5), pp.937-942
[27]J.-H. Wang and Y. Gao, GPS-based Land Vehicle Navigation System Assisted by a Low-Cost Gyro-Free INS Using Neural Network, The Journal of Navigation,2004, vol. 57, pp.417-428.
[28]E.-H. Shin, Accuracy Improvement of Low Cost INS/GPS for Land Applications,Master thesis, Calgary,Alberta:Department of Geomatics Engineering,Calgary University,2001.
[29]王新华,陈增强,袁著祉,全程快速非线性跟踪—微分器,控制理论与应用,2003,20(6)：875-878.
[30]武利强,林浩,韩京清,跟踪微分器滤波性能研究,系统仿真学报,2004,16(4)：651-670.
[31]韩京清,黄远灿,二阶跟踪—微分器的频率特性,数学的实践与认识,2003,33(3)：71-74.
[32]Y Wu, M. Wu, W. Wu, D. Hu, and X. Hu, Autonomous Land Navigation Using Inertial Sensors, Part Ⅰ:Self-calibration for Applications with an Uncalibrated Odometer, submitted to IEEE Trans. on Automatic Control,2006
[33]S. Thrun, D. Fox, W. Burgard, and F. Dellaert, "Robust Monte Carlo localization for mobile robots," Artificial Intelligence, vol.128, pp.99-141,2001.
[34]J. Kronander, Robust Automotive Positioning:Integration of GPS and Relative Motion Sensors,Master thesis, Linkoping:Institutionen for systemteknik,Linkoping University, 2004.
[35]G. Dissanayake, S. Sukkarieh, E. Nebot, and H. Durrant-Whyte, The Aiding of a Low-Cost Strapdown Inertial Measurement Unit Using Vehicle Model Constraints for Land Vehicle Applications, IEEE Transactions on Robotics and Automation,2001, vol. 17(5), pp.731-747.
[36]R. Hermann and A. J. Krener, Nonlinear Controllability and Observability, IEEE Trans. on Automatic Control,1977, vol.22(5), pp.728-740.
[37]F. V. Graas and A. Soloviev, Precise Velocity Estimation Using a Stand-alone GPS Receiver,ION NTM,2003, Anaheim,CA.
[38]L. Serrano, D. Kim, and B.Langley, A GPS Velocity Sensor:How Accurate Can It Be?-A First Look,ION NTM'04,2004, San Diego.
[39]L. Serrano, D. Kim, and R. B. Langley, A Single GPS Receiver as a Real-Time, Accurate Velocity and Acceleration Sensor,ION GNSS 2004,2004.
[40]K. Itani, T. Hayashi, and M. Ueno, Low-Cost Wave Sensor Using Time Differential Carrier Phase Observations,ION GPS 2000,2000, Salt Lake City, UT.
[41]F. M. Ham and R. G. Brown, Observability, Eigenvalues, and Kalman Filtering, IEEE Trans. on Aerospace and Electronic Systems,1983, vol.19(2), pp.269-273.
[42]J.Wendel, O.Meister, R.M"onikes, and G.F.Trommer, Time-Differenced Carrier Phase Measurements for Tightly Coupled GPS/INS Integration,IEEE PLANS'06,2006.
[43]E. Krelndler and P. E. Sarachik, On the Concepts of Controllability and Observability of Linear Systems, IEEE Transactions on Autmatic Control,1964, pp.129-136.
[44]Gustafson D, Dowdle J, Flueckiger K. A high Anti-Jam GPS-Based Navigator[A]. In: ION NTM 2000[C]. Fairfax VA:U S Institute of Navigation, Inc.2000.438-446
[45]W. Abdel-Hamid, T. Abdelazim, N.El-Sheimy et al, Improvement of MEMS-IMU GPS performance using fuzzy modeling, GPS Solution, Vol.10, No.1,1-11,2006.
[46]J.-H. Wang, Intelligent MEMS INS/GPS Integration for Land Vehicle Navigation, University of Calgary, Doctor Dissertation, Calgary,2006.
[47]Saurabh Godha, Performance Evaluation of Low Cost MEMS-Based IMU Integrated With GPS for Land Vehicle Navigation Application, University of Calgary, Master Dissertation, Calgary,2006.
[48]Gamini Dissanayake, Salah Sukkarieh, EduardoNebot et al, The Aiding of a Low-Cost Strapdown Inertial Measurement Unit Using Vehicle Model Constraints for Land Vehicle Applications, IEEE Transactions on Robotics and Automation, Vol.17, No.5, 731-748,2001.
[49]D. Goshen-Meskin and I. Y. Bar-Itzhack, Observability Analysis of Piece-Wise Constant Systems-Part Ⅰ:Theory, IEEE Trans. on Aerospace and Electronic Systems, 1992, vol.28(4), pp.1056-1067.
[50]Y. Wu, M. Wu, W. Wu, X. Hu, and D. Hu, Global Observability Analysis of Inertial Navigation Systems, submitted to Automatica,2007.