基于超短基线的GPS测姿算法研究  

Research on GPS attitude determination based on ultra-short baseline

作　　者：宋雅倩 何维[1] 任彦 SONG Yaqian;HE Wei;REN Yan(School of Communication and Information Engineering,Chongqing University of Posts and Telecommunications,Chongqing 400065,P.R.China)

机构地区：[1]重庆邮电大学通信与信息工程学院,重庆400065

出　　处：《重庆邮电大学学报（自然科学版）》2022年第5期749-757,共9页Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition)

基　　金：中兴通讯有限公司项目(E021E2020068)。

摘　　要：针对超短基线下姿态测量结果稳定性差及可靠性低的问题,提出一种更加可靠稳定的基于超短基线的全球定位系统(global positioning system,GPS)姿态测量算法。构建了扩展卡尔曼滤波(extended Kalman filtering,EKF)模型,并对扩展卡尔曼滤波模型中测量噪声矩阵采用基于卫星高度角模型,得出比较准确的浮点模糊度;联立了载波双差观测方程和伪距双差观测方程,并采用改进模糊度最小二乘去相关平差法(modified least-squares ambiguity decorrelation adjustment algorithm,M-LAMBDA)进行快速模糊度固定解算;利用了滤波法进行姿态解算。实验结果表明,与其他测姿算法相比,该算法可适用于超短基线,能够提高姿态结果的稳定性与可靠性,在基线为20 cm静态环境中,该算法模型航向角的误差方差为0.1左右,航向角的绝对误差为2°左右。在基线为20 cm动态环境中,该算法模型航向角的误差方差为2左右,姿态角的绝对误差为3°左右。Concerning the problem of poor stability and low reliability of attitude measurement results under ultra-short baseline,a more reliable and stable attitude measurement algorithm of Global Positioning System(GPS)based on ultra-short baseline was proposed.Firstly,the extended Kalman filter(EKF)model was constructed,and the measurement noise matrix of EKF model was based on the satellite elevation angle model to obtain the more accurate floating-point ambiguity.Then,the carrier double difference observation equations and pseudo range double difference observation equations were combined,and the modified ambiguity least square decorrelation adjustment method(M-LAMBDA)was used for fast ambiguity fixed solution.Finally,the filtering method was used to calculate the attitude.The experimental results show that,the algorithm can be applied to the ultra-short baseline,and can improve the stability and reliability of the attitude results.In the static environment with a baseline of 20cm,the error variance of the heading angle of the algorithm model is about 0.1,and the absolute error of the heading angle is about 2°.In a dynamic environment with a baseline of 20cm,the error variance of the heading angle is about 2,and the absolute error of the attitude angle is about 3°.

关 键 词：超短基线 GPS相对定位 姿态测量 扩展卡尔曼滤波 M-LAMBDA 

分 类 号：TN929[电子电信—通信与信息系统]