| 多模GNSS伪距组合定位方法设计与验证 |
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| 引用本文： | 陈柯勋,李灯熬,邱伟.多模GNSS伪距组合定位方法设计与验证[J].红外与激光工程,2021,50(6):2021G006-1-2021G006-11. |
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| 作者姓名： | 陈柯勋 李灯熬 邱伟 |
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| 作者单位： | 1.太原理工大学 信息与计算机学院，山西 太原 030600 |
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| 基金项目： | 国家自然科学基金（61772358） |
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| 摘 要： | 在卫星信号受干扰严重的复杂地貌环境中，由于可见卫星数目较少、卫星信号质量差，单模卫星定位导航的精度一直不尽人意，尤其是针对动态导航定位精度问题更为明显。为了提高动态导航定位精度，创新设计了一种多模GNSS的伪距组合定位算法，该算法属于一种有迭代组合定位算法，通过高度角先验定权模型确定初始迭代权矩阵，在加权最小二乘法解算过程中通过方差分量估计后验模型，不断迭代更新权矩阵，进而得到目标的精确位置，该算法需依赖初值和多次迭代，但定位精度要优于Gauss-Newton迭代算法和Helmert方差分量估计法。实验仿真结果表明，相较于Gauss-Newton迭代算法和Helmert方差分量估计法，文中设计的算法定位精度分别提高了45.1%和23%。最后结合实际空投试验分析表明，文中所述算法能够准确的解算出空投物资的落点，可以为飞行器导航系统设计人员提供参考，具有一定的理论意义和实用价值。
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| 关 键 词： | 多模 GNSS 伪距 组合定位 姿态矩阵 位置矩阵 |
| 收稿时间： | 2021-03-27 |
Design and verification of multi-mode GNSS pseudo-range combined positioning method |
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| Affiliation: | 1.Institute of Information and Computer, Taiyuan University of Technology, Taiyuan 030600, China2.Beijing Intensity Environment Institute, Beijing 100076, China |
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| Abstract: | In a complex geomorphic environment where satellite signals are severely interfered with, due to the small number of visible satellites and poor satellite signal quality, the accuracy of single-mode satellite positioning and navigation has been unsatisfactory, especially for dynamic navigation and positioning accuracy. In order to improve the accuracy of dynamic navigation and positioning, a multi-mode GNSS pseudo-range combined positioning algorithm was designed, which belonged to an iterative combined positioning algorithm. The initial iterative weight matrix was determined by the height angle priori weight model, and the weight was the smallest. In the process of the two multiplication method, the posterior model was estimated by the variance component, and the weight matrix was continuously updated iteratively to obtain the accurate position of the target. The algorithm needed to rely on the initial value and multiple iterations, but the positioning accuracy was better than the Gauss-Newton iterative algorithm and Helmert variance component estimation method. Experimental simulation results show that compared with Gauss-Newton iterative algorithm and Helmert variance component estimation method, the positioning accuracy of the algorithm designed in this paper is improved by 45.1% and 23%, respectively. Finally, combined with the actual airdrop test analysis, it is shown that the algorithm described in this paper can accurately calculate the drop point of the airdrop material, which can provide a reference for the aircraft navigation system designer, and has certain theoretical significance and practical value. |
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