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基于导航卫星伪距双差建立了相对导航模型,设计了基于伪距单差的最小二乘算法、基于伪距双差的最小二乘算法、基于伪距单差的EKF算法与基于伪距双差的EKF算法,并通过试验进行对比分析。研究结果表明:基于伪距双差的相对导航模型可以消除电离层、对流层、多路径误差、卫星钟差与接收机钟差;与最小二乘算法相比,EKF算法能够显著提高相对导航信息的解算精度;EKF算法下伪距双差的解算精度比伪距单差提高约10%;在几何精度因子最小的原则下,卫星个数增多,距离解算精度提高;基线为2m时,基于伪距双差的EKF算法所得距离解算精度可达到0.10m以内,方位角解算精度可达到4.0°,因此,EFK算法的精度和频率可满足大型舰船编队保持准动态的相对导航需求。
The relative navigation model is established based on the pseudorange double difference of navigation satellite. The least square algorithm based on pseudorange and single difference is designed, the least squares algorithm based on double difference of pseudorange, the EKF algorithm based on pseudorange and single difference, Poor EKF algorithm, and comparative analysis by experiment. The results show that the relative navigation model based on double difference of pseudorange can eliminate ionosphere, troposphere, multipath error, satellite clock error and receiver clock error. Compared with the least squares algorithm, EKF algorithm can significantly improve the relative navigation information The accuracy of the solution to the pseudorange double difference under the EKF algorithm is about 10% higher than that of the pseudorange. Under the principle of minimum geometric accuracy factor, the number of satellites increases and the accuracy of the distance calculation increases. When the baseline is 2 m, EKF algorithm based on pseudorange-double difference can reach the resolution of 0.10m and azimuth resolution of 4.0 °. Therefore, the accuracy and frequency of EFK algorithm can meet the relative navigation requirements of large-scale ship formation to maintain the quasi-dynamic .