GNSS多天线测姿关键技术研究

Global Navigation Satellite System (GNSS) receives much attentions for it is high-accuracy, global, all-weather and continuous. It has great potential in attitude measuring; either takes the place of the complex and expensive attitude measuring equipment as a new attitude measurement system, or constitutes integrated attitude measurement system with traditional attitude sensor. In recent years, attitude determination through the use of GNSS signals is a new field of applied research of GNSS. On the focus of the key technology, integer ambiguity fixing, attitude parameters solution and parameter estimation theory & algorithms, this project aims to research on the following aspects: propose a new approach to solve integer ambiguity using prior constraint information and a new model for testing the property of ambiguity; Based on attitude solution of baseline-attitude parameter model and observation-attitude parameter model, respectively, attitude estimation models and practical algorithms are to be constructed; According to the generation mechanism of multipath effect, new modeling methods and correction models of multipath effect will be erected to fulfill the need of GNSS attitude determination. By this project, a set of methodology on GNSS attitude determination, including error analysis and modeling, attitude observation model establishment, selection of attitude parameters, fast resolution of integer ambiguity, attitude parameter estimation theory and algorithms based on different attitude models. In addition, an applicable real-time GNSS attitude software is to be developed, which could be directly used in attitude determination of Large surface ships, merchant ship, oil tanker, aerospace planes，military and civil aircrafts. This project has important theoretical significance, wide application prospect and potential.

基于GNSS的姿态测量及应用技术是卫星导航领域研究的热点。本项目针对GNSS姿态确定中涉及的整周模糊度固定、姿态参数的选择与估计方法等关键技术，研究提出附加先验约束信息的整周模糊度快速解算新方法和检验模糊度正确性的新模型；基于基线-姿态参数数学模型和基于观测值-姿态参数数学模型表征下的姿态解算问题，研究构造GNSS实时测姿和GNSS/INS组合测姿的姿态参数估计模型和实用算法；从多路径效应的产生机理入手，深入分析多路径误差对定姿的影响规律，提出一种适合于GNSS测姿的多路径效应误差建模方法和多路径误差改正模型。通过本项目的研究可望建立一套较为系统的从对GNSS姿态测量数据误差的相关性分析和建模、姿态测量数学模型的建立、姿态参数的选择、整周模糊度的快速解算、到构造基于不同姿态测量模型的姿态参数估计理论与算法体系，研制一套较适用的GNSS实时测姿软件系统。GNSS测姿系统可直接应用于各种大中型水面舰艇、商船、油轮、航天飞机、军用或民用飞机等运动载体的姿态确定，研究具有重要的理论意义、广阔的应用前景和巨大的应用潜力。

针对GNSS&GNSS/INS定位、定姿的实际，在GNSS信号质量评估及模型误差分析，多频数据周跳探测、模糊度改进算法，定位定姿滤波算法，多频GNSS精密定轨及低轨卫星增强，结构变量误差模型的总体最小二乘估计理论等做了较深入研究，取得丰富研究成果。针对PPP模糊度固定问题，提出基于Kalman滤波估计FCB的新方法，提升了模糊度浮点解的收敛速度和精度；论证了Galileo当前星座条件下FCB估计的适用性，基于MGEX实测数据，提出一套较为全面的信号数据质量评估方法；基于历元间差分模型提出一种周跳探测与修复新算法，提高了周跳估计的成功率；针对中长基线下窄巷模糊度解算易受电离层影响的问题，提出改进的三频模糊度解算新方法。针对GNSS&GNSS/INS定位定姿参数估计的非高斯非线性、数据异常等问题，构建了系列姿态参数的估计模型和稳健的滤波算法；提出基于GPS/INS全组合的航向自适应滤波新算法；提出一种北斗/惯导的快速混合高斯UKF算法；基于高斯混合模型，提出约束容积自适应Kalman滤波算法、变分优化的高斯混合滤波和遗传EM算法优化的高斯混合粒子滤波，提高了GNSS/SINS定姿定位的精度和可靠性。提出基于IGS钟差基准的双频非组合精密定轨高效算法；使用GPS和BDS-3研究了单/双系统非组合策略的精密轨道与钟差确定精度，推导了IF组合与非组合精密定轨观测模型；提出结构化变量误差模型的非负约束最小二乘方差分量估计算法，提高了参数估计的可靠性；针对杠杆观测、多粗差的隐差，提出基于分支剪切算法的总体最小截断平方估计算法；提出基于重复中位数的抗差总体最小二乘估计算法和基于非线性高斯-赫尔默特模型的结构总体最小二乘算法。 .项目组公开发表学术论文45篇，其中SCI、EI收录26篇，中国卫星导航学术年会优秀论文2篇；完成研究生学位论文7篇，河南省优秀学位论文1篇、信息工程大学优秀学位论文3篇；1项成果获军队科技进步二等奖。研究成果丰富和发展了现代测量数据处理理论和方法，具有重要的科学意义和应用价值，为GNSS定位定姿及其相关领域的应用提供基础理论和技术支持。