姿态卡尔曼滤波对FAST馈源舱 BDS/SINS组合导航位姿精度的提高

500 m球面射电望远镜(The Five-hundred-meter Aperture Spherical radio Telescope, FAST)馈源舱位置和姿态测量精度直接影响望远镜接收机的对准精度.为了提高馈源舱位姿精度,提出姿态卡尔曼滤波算法,采用北斗导航系统的多天线技术解算馈源舱姿态,将它与捷联惯导解算的馈源舱姿态对比,两者的差值作为姿态卡尔曼滤波的量测量.为了降低北斗导航系统解算姿态的复杂度,采用了罗德里格矩阵解算方法.以望远镜跟踪观测模式时,北斗导航系统和捷联惯导解算的实际导航结果作为测试数据,测试结果表明采用姿态卡尔曼滤波的组合导航结果精度优于传统卡尔曼滤波的组合导航结果,尤其在航向角和yf轴的位置精度上.     

GPS系统时间及其与其他时间的关系

指出不同授时规范对“GPS系统时间”定义、解释的差异,给出比较清楚和综合的“GPS系统时间”理解,这会有益于北斗系统和GPS系统组合PNT（定位、导航、授时）应用标准化。     

多模卫星导航系统的RAIM算法研究

研究了多模卫星导航系统的RAIM（接收机完好性自主检测）算法,根据多模卫星导航系统的定位模型,基于最小二乘法的原理计算伪距残差,构造奇偶矢量进行故障检测和故障排除。在只有一个观测量出现粗差的前提下,仿真了GPS与多模GPS／GLONAss／Galileo系统下的卫星可见数和DOP（精度因子）,对比了衡量RAIM算法可用性的水平保护门限值（HPL）及这2种系统下的故障检测率与故障排除率。仿真结果表明：与GPS相比,多模导航系统具有更多的可见星,RAIM算法的可用性更高,并且其故障检测和故障排除的性能更好。因此,多模卫星导航系统不仅能为用户提供更高的定位精度,还能为用户提供更好的完好性保障。     

基于GPS与三轴磁强计的联合导航算法

为了修正近地轨道(小于1000 km)地磁场模型,提高导航的精度,在地磁导航系统中引入GPS作为一个新的测量设备,提出了一种基于三轴磁强计与GPS的联合导航算法．该算法取卫星的位置和速度向量作为状态向量,建立状态方程;取卫星周围的磁场强度和GPS接收的信号作为观测量,建立观测方程;并以GPS确定的轨道状态量为标准量,去估计磁场模型参数的修正量,构成冷备冗余导航算法．仿真结果表明,提出的导航算法对轨道位置的估计误差小于50 m,速度的估计误差小于0．1 m／s,导航算法的精度和收敛性都优于使用单一地磁导航的系统．     

中国区域定位系统的水平定位误差分布研究

中国区域定位系统（Chinese Area Positioning System,CAPS）是基于通信卫星的转发式卫星导航系统,基本原理是导航信号由地面导航站上行,经通信卫星转发向地面广播,用户接收机接收导航信号和电文实现导航定位。在试验验证阶段,CAPS仅采用同步轨道通信卫星进行信号的转发和广播,用户接收机利用气压测高技术实现高程辅助下的定位解算。为了描述CAPS水平定位误差的分布,作者定义了高程辅助算法下的东精度衰减因子（Dilution of PrecisionEast,EDOP）和北精度衰减因子（Dilution of Precision North,NDOP）。根据CAPS星座分布,分析系统覆盖范围内高程辅助下EDOP和NDOP数值,结果表明CAPS的EDOP和NDOP是关于赤道南北对称,关于同步轨道通信卫星的平均经度子午圈对称。在平均经度子午圈附近,EDOP出现最小值;在同一纬度圈上,离平均子午圈越远,EDOP数值越大。在CAPS覆盖区域内,任一格点上的NDOP总是大于EDOP,当用户由低纬度地区向高纬度地区移动时,在站心坐标系内卫星在南北方向拉开的距离增大,NDOP变小。利用北京、上海、长春、西安、乌鲁木齐和昆明6个CAPS测站进行仿真分析,结果表明本文提出的EDOP和NDOP可用于估算星座空间布局对用户伪距测量误差的放大程度,并可以解释CAPS接收机在高程辅助下水平定位精度东西方向总是优于南北方向的现象。进一步的实测数据分析表明,EDOP和NDOP可以用来估算南北方向和东西方向的定位精度。     

MSAS基带信号处理关键技术

给出了日本MSAS（多功能卫星增强系统）基带信号处理各项关键技术的算法原理,并对2006年在成都高楼上采集的MSAS卫星信号数据通过软件进行了基带信号处理,验证了各关键技术算法原理的正确性。另外,提出对GPS接收机增加1个MSAS通道以便提高我国GPS卫星导航接收机的定位精度和进一步增强GPS卫星导航完好性监测。     

罗兰C链的改变和罗兰定时

由于导航技术尤其是空基导航系统的快速发展,世界导航系统的格局在不断改变。如美国的导航星全球定位系统(GPS)已全系统运行,其应用的广泛性是引人注目的。但是,涉及面很广的导航问题,难以由一种手段满足所有用户的需要。罗兰C导航系统早已被人们广泛采用。GPS系统投入使用,减弱了某些地区导航对罗兰的依赖性,因此美国对罗兰C导航链的控制逐渐收缩。一些远离美国本土的台     

高动态6PS信号跟踪算法的Simulink实现

基于Matlab／Simulink软件,设计实现了高动态GPS接收机的数字中频信号处理模块的仿真模型。模型可实现中频信号的跟踪和解调。给出了模拟信号源输入条件下的处理结果,结果表明模型的设计正确可行。模块可以为各种新的高动态GPS信号的跟踪算法的研究设计提供一个可视化平台。     

GNSS系统时间偏差的确定及其对定位结果的影响

由于GNSS各个导航系统都有独立的系统时间,在GNSS多模导航定位中需要对各导航系统之间的系统时差进行处理。以GPS／GLONASS双模导航为例,讨论了系统时差的解决方法以及系统时差对定位结果的影响。实验结果表明,在多模导航定位中考虑系统时差可以有效地提高定位结果的准确性,改善定位结果的精度。     

差分GPS在车辆导航系统中的应用

简单介绍了差分GPS和伪距差分技术在车辆导航系统中的应用原理,分析了车辆导航系统及其基准站与导航车辆的基本组成,并介绍了一种基于GPRS/ GSM通信网络的DGPS数据传输与处理过程。     

组合GPS/测距测向仪车载导航和卡尔曼滤波

讨论了ＧＰＳ单点伪距定位的特点,然后利用距测向仪来弥补ＧＰＳ导航的不足以及提高导航精度,并给出了确定初值的一种迭代算法,最后提出了八状态的卡尔曼滤波器。     

An orbit determination algorithm by means of the satellite-borne GPS data and Kalman filter

Using the Kalman filter algorithm, we have processed on-board GPS data of Shenzhou 4. The research focuses on three problems, namely, the selection criteria for the model error variance matrix of the Kalman filter, the effects of GPS signal interruption or runs of outliers on the recursive filtering, and the method to monitor the filter running status (normal or divergent). The aim is to evaluate the reliability of long-time stationary running of this algorithm used for on-board autonomous orbit determination     

GPS-Based On-Board Orbit Determination of a Satellite Using Extended H ∞ Filtering Algorithms

In this paper the extended H filtering algorithms for the design of the GPS-based on-board autonomous navigation system for a low earth orbit (LEO) satellite are introduced. The dynamic process models for the estimation of position, velocity and acceleration from the GPS measurements are established. The nominal orbit of the small LEO satellite is determined by using the 7th–8th order Runge—Kutta algorithms. Three filtering approaches are applied to smooth the orbit solutions, respectively, based upon the simulated GPS pseudo range observables using the Satellite Navigation Tool Box. The simulation shows that the observed orbit errors obtained by using the extended H filtering algorithms can be reduced to a lower level than the observed orbit errors in the sense of RMS within 12 h of tracking time by using the H filtering algorithms and the extended Kalman filtering algorithms under the appropriately designed parameters. Based upon the position errors predicted by the three filtering algorithms after the last observation, we find that the extended H filtering algorithm provides the least position errors of the user satellite.This revised version was published online in October 2005 with corrections to the Cover Date.     

Comparison of three filters in asteroid-based autonomous navigation

At present,optical autonomous navigation has become a key technology in deep space exploration programs.Recent studies focus on the problem of orbit determination using autonomous navigation,and the choice of filter is one of the main issues.To prepare for a possible exploration mission to Mars,the primary emphasis of this paper is to evaluate the capability of three filters,the extended Kalman filter(EKF),unscented Kalman filter(UKF) and weighted least-squares(WLS) algorithm,which have different initial states during the cruise phase.One initial state is assumed to have high accuracy with the support of ground tracking when autonomous navigation is operating; for the other state,errors are set to be large without this support.In addition,the method of selecting asteroids that can be used for navigation from known lists of asteroids to form a sequence is also presented in this study.The simulation results show that WLS and UKF should be the first choice for optical autonomous navigation during the cruise phase to Mars.     

GPS近实时共视观测资料处理算法研究

GPS共视资料的高精度快速处理可实现近实时共视时间传递，常见的平滑方法不能满足近实时共视的要求。分析GPS共视资料特点，设计一种卡尔曼滤波算法，对共视资料进行近实时处理，以便削弱观测噪声，估计异地钟差，对相距2000多公里的中国科学院国家授时中心(NTSC)与日本通信综合研究所(CRL)，和相距1000多公里的CRL与韩国计量科学研究院(KRIS)的共视观测资料处理结果表明：卡尔曼滤波算法所得钟差与根据BIPMT公报所得钟差的均方根误差分别优于2．9ns和2．6ns，为进一步提高比对精度，最后对近实时共视应用于多站点间相互比对的情况，提出在卡尔曼滤波算法基础上使用间接观测平差处理技术，根据共视网络中站点间距离设置观测权值，通过解矛盾方程组得到两站钟差，以NTSC、CRL和KRIS3站比对为例，以BIPMT公报得到的钟差为标准，对间接观测平差处理前后的数据比较表明，近实时比对精度可进一步提高。     

An algorithm for a near real-time data processing of GPS common-view observations

Near real-time transfer of GPS common-view data is no longer a problem, but near real-time data processing of the data still calls for study, because it is not yet achieved by the usual smoothing and filtering techniques. Based on the characteristics of the GPS common-view data, a Kalman filtering algorithm is designed for estimating the time difference between two sites, while greatly reducing the observational noise. The algorithm is applied to the time difference between the National Time Service Center (NTSC) of China and the Communications Research Laboratory (CRL) of Japan (Over 2000 km apart), and to that between the CRL and the Korean Research Institute of Standards and Sciences (KRIS) (over 1000 km apart). The root mean square errors of the results obtained by the Kalman filter relative to those obtained from the Circular T of BIPM are less than 2.9 ns and 2.6 ns, in the two cases. Further, it is pointed out that, when multi-site data within a common-view network are available we can further improve the accuracy of the time comparisons by indirect observation adjustment. This statement was justified by application to the data from all three stations, i.e. NTSC, CRL, and KRIS.     

Navigating to the Moon along low-energy transfers

This paper presents a navigation strategy to fly to the Moon along a Weak Stability Boundary transfer trajectory. A particular strategy is devised to ensure capture into an uncontrolled relatively stable orbit at the Moon. Both uncertainty in the orbit determination process and in the control of the thrust vector are included in the navigation analysis. The orbit determination process is based on the definition of an optimal filtering technique that is able to meet accuracy requirements at an acceptable computational cost. Three sequential filtering techniques are analysed: an extended Kalman filter, an unscented Kalman filter and a Kalman filter based on high order expansions. The analysis shows that only the unscented Kalman filter meets the accuracy requirements at an acceptable computational cost. This paper demonstrates lunar weak capture for all trajectories within a capture corridor defined by all the trajectories in the neighbourhood of the nominal one, in state space. A minimum Δv strategy is presented to extend the lifetime of the spacecraft around the Moon. The orbit determination and navigation strategies are applied to the case of the European Student Moon Orbiter.     

基于单片机和GPS信号的校频系统

介绍一种基于INTEL 80C196KC单片机的校频系统,包括系统的设计原理、硬件组成和软件实现。该系统通过利用GPS接收机得到的1PPS秒脉冲信号,实现对晶体振荡器频率的校准,从而获得一个短期及长期稳定度都比较优良的时间频率标准。该系统采用了量化时延原理进行短时间间隔比对,对测量数据进行卡尔曼滤波处理。