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GNSS姿态测量算法研究及软件开发_邵奎1
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摘要姿态测量在航空航天、军事等领域有着广泛应用,早期的解决方案一般应用惯性导航系统(INS),但 INS 因其解算原理和价格因素,在实际应用中受到一定限制。随着
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GNSS 姿态测量算法研究
及软件开发
(申请清华大学工学硕士学位论文)
培 养 单 位
:
土木工程系
学 科
:
大地测量学与测量工程
研 究 生
:
邵 奎
指 导 教 师
:
白征东 副教授
二○一五年六月
The Algorithms and Software
Development of GNSS Attitude
Determination
Thesis Submitted to
Tsinghua University
in partial fulfillment of the requirement
for the degree of
Master of Science
in
Geodesy and Survey Engineering
by
Shao Kui
Thesis Supervisor
:
Associate Professor
Bai Zhengdong
June, 2015
摘 要
I
摘 要
姿态测量在航空航天、军事等领域有着广泛应用,早期的解决方案一般应用
惯性导航系统(INS),但 INS 因其解算原理和价格因素,在实际应用中受到一定
限制。随着全球导航卫星系统(GNSS)的不断发展完善,应用 GNSS 解算姿态成
为一个研究热点,在我国大力推广北斗系统的战略背景下,研究更显得重要。
本文主要研究应用 GNSS 数据解算动态载体的姿态信息,重点研究了以下几
个方面的问题:
(1)姿态测量原理和算法。对姿态测量中坐标系旋转问题、姿态测量原理和
姿态测量算法进行了研究,提出了姿态测量中三维直角坐标旋转顺序的选取原
则;
(2)高精度短基线解算。对基线解算原理、短基线误差处理和应用 Kalman
滤波解算 GNSS 基线进行了研究;
(3)姿态测量模糊度解算。对 LAMBDA 算法进行了深入剖析,探索了改进
的 LAMBDA算法和附有限制条件的 LAMBDA算法。在此基础上,将 M-LAMBDA
与 C-LAMBDA 算法结合起来,提高了模糊度固定的成功率和效率。
在理论研究的基础上,编写了姿态测量软件,软件在 MFC 框架下使用 C/C++
语言编写,能够使用 BDS 和 GPS 双系统数据解算运动载体三个姿态角,并实时显
示解算结果。
最后,设计了测试实验和对比实验。测试实验通过接收载体的运动状态数
据,分析所编写软件的精度和稳定性情况,实验表明软件姿态解算稳定度可达到
0.1 度,且具有较高稳定性。对比实验分析了姿态解算中应用不同系统、不同姿态
算法的解算差异情况,实验结果显示,BDS 同 GPS 系统均具备独立测姿能力;利
用 GNSS(BDS+GPS)数据能够有效提高解算精度和稳定性;不同姿态算法解算
结果存在差异,并各自具备优缺点。
关键词:姿态测量;短基线解算;LAMBDA;三维直角坐标转换;GPS/BDS 对比;
Abstract
II
Abstract
Attitude measurement is widely applied in aerospace, military and many other
fields, Inertial Navigation System (INS) is the first method introduced to solve this
problem. However, because of the inherent defects and expensive price, INS has a
variety of problems in practical application. With the development of global navigation
satellite system (GNSS), using GNSS to calculate the attitude has become a research
hotspot, with a view to the booming of BDS System, it turns to be more significative.
The focus of this paper is to calculate attitude information of moving carrier with
GNSS data. First of all, research of background and current situation of this field is
done, then three important theoretical problems is being discussed in three independent
chapter, the three important problems are:
(1) The principle and algorithm of attitude measurement. It includes coordinate
transformation and the classical algorithm of attitude measurement, on the basis of
which , this paper puts forward the rules of attitude coordinate transformation;
(2) Short baseline solution of high accuracy. It includes the principle of baseline
solution, the error processing of short baseline solution and how to imply Kalman filter
to solve GNSS baseline;
(3) The constrained OTF integer ambiguity algorithm. It includes detailed study
of LAMBDA and modified, constrained algorithm derived from LAMBDA, On the
basis of which, this paper combines M-LAMBDA and C-LAMBDA algorithm, by this
means, higher fixed rate and efficiency are acquired.
Next, on the work of theory study, a program is developed to solve attitude with
GNSS data. The program uses C/C++ language under the MFC frame, it can utilize data
of both BDS and GPS and with a graphic interface, results of attitude will be presented
synchronously.
At last, this paper designs some experiments, these experiments are divided into
two parts, named testing experiment and comparative experiments, testing experiment is
to assess the program’s precision and accuracy with data gathered from moving carrier,
which shows the program has high stability and precision of 0.001 rad degree;
Comparative experiments focus on the different calculating results between three
Abstract
III
attitude algorithms and two GNSS systems, from which we can conclude that both BDS
and GPS possess ability to solve attitude independently with enough precision and
stability, using GNSS data will optimize the result effectively; Different attitude
algorithms will bring different results and possess respective applicability.
Key words: Attitude Measurement; Short Baseline Solution; LAMBDA; 3D Cartesian
Coordinate Rotation; GPS/BDS Comparison;
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