基于RTK定位的差分卫星引导技术研究  

Differential Satellite Guidance Technology Based on RTK Positioning

作　　者：梁颖茜 常绍平 王青林 LIANG Ying-xi;CHANG Shao-ping;WANG Qing-lin(AVIC Xi’an Flight Automatic Control Research Institute,Xi’an 710076,China;AVIC Helicopter Research and Development Institute,Jingdezhen 333001,China)

机构地区：[1]航空工业西安飞行自动控制研究所,陕西西安710076 [2]航空工业直升机设计研究所,江西景德镇333001

出　　处：《测控技术》2022年第8期22-26,77,共6页Measurement & Control Technology

基　　金：航空科学基金(20180718004)。

摘　　要：实时动态定位(RTK)是一种基于卫星载波相位观测值的实时动态定位技术,理论成熟,应用广泛,并具有精度高、可在全球和全天候使用等特点。为满足舰载无人直升机全自主精确着舰的要求,机载端引导系统需要获取移动甲板精确的相对位置。针对以上应用场景和要求,对基于RTK定位的差分卫星引导技术进行了研究,包括系统总体设计、RTK算法设计和软硬件实现。通过对舰面试验和飞行试验进行验证,表明所设计的系统在无人直升机着舰过程中能提供0.03 m以内的定位精度,满足全自主着舰要求。Real-time kinematic(RTK)is a real-time dynamic positioning technology based on satellite carrier phase observations.It has mature theory and wide application, the characteristics of high precision, and can be used all over the world and all-weather.In order to meet the requirements of autonomous and accurate deck landing of ship-board unmanned helicopter, the onboard terminal guidance system needs to obtain accurate relative position of the moving deck.According to the above application scenarios and requirements, the differential satellite guidance technology based on RTK positioning is studied, including the system overall design, RTK algorithm design and the hardware and software implementation.Through the verification of ship surface test and flight test, it shows that the proposed system can provide the positioning accuracy within 0.03 m during unmanned helicopter deck landing, and meet the requirements of full autonomous deck landing.

关 键 词：无人直升机 RTK定位 差分卫星引导 自主着舰 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置] V24[自动化与计算机技术—控制科学与工程]