基于C-LAMBDA算法的GNSS相对定位增强方法  

An Improved GNSS Relative Positioning Method Applying C-LAMBDA Algorithm

作　　者：伍劭实 范波 张良 WU Shaoshi;FAN Bo;ZHANG Liang(National Innovation Institute of Defense Technology,Academy of Military Sciences,Beijing 100071,China;Information and Navigation College,Air Force Engineering University,Xi'an 710077,China)

机构地区：[1]军事科学院国防科技创新研究院,北京100071 [2]空军工程大学信息与导航学院,陕西西安710077

出　　处：《探测与控制学报》2024年第3期121-126,共6页Journal of Detection & Control

基　　金：国家自然科学基金青年基金项目(41904014)。

摘　　要：针对相对定位场景下载体天线间先验基线信息利用不充分问题,提出基于约束的最小二乘模糊度降相关平差算法(C-LAMBDA)的全球卫星导航系统(GNSS)相对定位增强方法:对于双天线载体,采用C-LAMBDA算法进行基线长度约束的定向解算,将求解得到的模糊度向量和基线矢量作为先验信息融入相对定位观测方程,从而将基线长度先验信息辅助提升解算效果的先天优势从测姿领域扩展到相对定位领域,由此给出基于C-LAMBDA算法的GNSS相对定位增强模型;通过推导相对定位增强模型糊度精度因子(ADOP)与传统单天线载体相对定位模型ADOP的数学关系,从理论上揭示了增强模型对于模糊度浮点解精度的提升作用。仿真与实测试验结果表明,与传统单天线载体相对定位相比,该方法在不同可视卫星数观测条件下均能够提高模糊度浮点解的精度,有效提升模糊度解算成功率,从而增强相对定位的可靠性。Since the a prior baseline information between the antennas of the rover lacked of sufficient use in relative positioning,the improved GNSS relative positioning method basing on C-LAMBDA algorithm was explored in this contribution.Firstly,the GNSS compass model was resolved with C-LAMBDA algorithm.Then,the ambiguity and baseline vectors were incorporated into relative positioning observation functions as the a prior information,thus the benefits of the a prior baseline information which could be used to improve the resolution in attitude determination was extended to relative positioning,and the functional and stochastic models of the improved GNSS relative positioning method basing on C-LAMBDA algorithm were given.Based on that,the relationship between the ambiguity dilution of precision(ADOP)for the traditional single-antenna-rover relative positioning model and the proposed improved relative positioning model was deduced,with which the benefits of the proposed model on the precision of the float ambiguity solutions was revealed.Finally,the proposed method was validated with both simulated and real data sets.It is shown that,when compared with the traditional single-antenna-rover situation,the proposed method ensured more precise float ambiguity solutions in different conditions,thus resulting in higher ambiguity resolution success rate and more reliable of relative positioning.

关 键 词：全球卫星导航系统 相对定位 约束的最小二乘模糊度降相关平差算法 整周模糊度解算 成功率 

分 类 号：P228.4[天文地球—大地测量学与测量工程]