基线长度约束的GNSS高精度姿态测定方法  

GNSS high-precision attitude determination with baseline length constraints

作　　者：刘震 王潜心[1] LIU Zhen;WANG Qianxin(School of Environment and Spatial Informatics,China University of Mining and Technology,Xuzhou,Jiangsu 221116,China)

机构地区：[1]中国矿业大学环境与测绘学院,江苏徐州221116

出　　处：《导航定位学报》2025年第2期87-93,共7页Journal of Navigation and Positioning

基　　金：国家重点研发计划项目-子课题(2020YFA0713502);广西科技基地和人才专项(桂科AD25069103)。

摘　　要：为了进一步快速准确地求解整周模糊度,实现全球卫星导航系统(GNSS)高精度定姿,提出一种结合基线长度信息的整周模糊度快速求解方法:通过构建虚拟观测方程,与伪距及载波相位观测数据联合求解整周模糊度及基线向量浮点解,既可利用基线长度先验信息,又可避免传统附有基线长度约束条件的最小二乘降相关平差法(BC-LAMBD)对搜索空间的影响,加速模糊度固定过程。实验结果表明,无论全球定位系统(GPS)/北斗卫星导航系统(BDS)单系统或双系统,采用提出的方法均可有效提高整周模糊度固定率和姿态测量精度,且该方法平均耗时仅0.008 s,优于BC-LAMBDA法;尤其在卫星信号受遮挡环境下的效果更为明显,GPS系统的整周模糊度固定率、载体的航向角和俯仰角测定精度可分别提高15.6%、40.0%和48.1%。In order to further quickly and accurately solve the integer ambiguity and achieve high-precision attitude determination of global navigation satellite systems(GNSS),the paper proposed a fast solution method for integer ambiguity that combines baseline length information:the virtual observation equations were used to solve the integer ambiguity and baseline vector floating-point solution simultaneously,with pseudo-range and carrier-phase observation data,for both utilizing the known baseline length information and eliminating the impact of the baseline length-controlled least-squares ambiguity decorrelation adjustment(BC-LAMBDA)by imposing limits on the search space,furthermore,speeding up the process of resolving ambiguities.Experimental results showed that the proposed method could significantly enhance the rate of integer ambiguity fixation and the accuracy of attitude measurement,regardless of whether the global positioning system(GPS)/BeiDou navigation satellite system(BDS)system was used individually or in combination,additionally,the method would only require an average time of 0.008 seconds,superior to the BC-LAMBDA method;in particular,when the satellite signal was blocked,the impact would be more pronounced,and the GPS/BDS dual system would experience a 15.6%increase in the rate of fixing integer ambiguities,a 40.0%improvement in determining the carrier's yaw angle,and a 48.1%enhancement in determining the carrier's pitch angle.

关 键 词：姿态解算 基线长度约束 整周模糊度 全球卫星导航系统(GNSS) 北斗卫星导航系统(BDS) 

分 类 号：P228[天文地球—大地测量学与测量工程]