基于非组合PPP模式的船载多天线GPS/INS定位测姿关键算法研究

High-precision position and attitude of a ship are the necessary geometric parameters in the marine surveying and engineering. Usually they are measured with high-precision INS. But currently, domestic INS equipments cannot satisfy the high-precision attitude needs. Also differential multi-antenna GPS/INS cannot fully match the ship-borne instrument positioning and attitude precision. In order to solve the problems, we put forward a new scheme, which can take advantage of implicit information, to determine ship's position and attitude with high enough precision by multi-antenna dynamic PPP/INS using uncombined PPP mode. There are three key points in this scheme: ⑴ figuring out the network adjustment model with short shipboard baselines based on uncombined PPP mode; ⑵ developing constraints, including sea surface level and its variation, and DD integer ambiguity, to improve the convergence performance of parameter estimation; ⑶ seeking data fusion algorithm of multi-antenna network GPS/INS. The novel scheme makes full use of the conditions that the shipboard multi-antenna network possesses. The position and attitude of the ship will be obtained with better precision and reliability, since various proper constraints and a priori data information are taken into account. The proposed scheme will serve to promote the high precision oceanic surveys. The planned research is oriented towards the determination of position and attitude with great precision required by shipboard surveying systems. Thus, it is broadly applicable. Also, the contents are multitudinous, and the ideas are creationary. The success of this research will construct the sound foundation for shipboard surveying systems, which requires high precision position and attitude of the carriers. Obviously, it will benefit the marine explorations greatly. It should be pointed out that this research could be extended to the application of BeiDou/INS. Thus, this research is also prospective.

高精度船体位置及姿态信息是海洋工程的重要几何参数，国际上常采用高精度INS测量。但我国获取高精度INS较困难，而多天线GPS 及差分GPS/INS 不能充分满足船载仪器精密定位及测姿的需要，针对这些不足，本项目提出了充分挖掘隐含信息的多天线动态PPP/INS 精密确定船体位置与姿态的新方案： （1）构建基于非组合PPP 模式的短基线网平差模型； （2）附加高程、高程变化及双差整周模糊度约束，提高PPP参数收敛速度； （3）多天线GPS/INS 数据融合算法。 新方案充分利用短基线多天线网的特点，附加约束条件及参数的先验值权阵，使参数解更准确、可靠。 项目针对船载高精度测量系统对精密定位及定姿需求开展研究，内容丰富，创新性强。研究成果能精密确定船体位置和姿态，为高精度的船载测量系统应用奠定坚实基础，更好地为海洋开发服务。应指出该成果可拓展到BeiDou/INS组合应用中，具有重要的前瞻性。

高精度船体位置及姿态信息是海洋工程的重要几何参数，国际上常采用高精度INS测量。但我国获取高精度INS较困难，而多天线GPS 及差分GPS/INS 不能充分满足船载仪器精密定位及测姿的需要，针对这些不足，本项目提出了充分挖掘隐含信息的多天线动态PPP/INS 精密确定船体位置与姿态的新方案。 新方案充分利用短基线多天线网的特点，附加约束条件及参数的先验值权阵，使参数解更准确、可靠。 . 研究并构建充分综合非组合PPP 模式与短基线网平差模式优点的新模型，该模型不仅可以获得与PPP 模式精度相当的测站绝对位置参数，而且可获得与相对定位精度相当的测站间相对位置参数。该研究内容主要包括：平差模型参数选取和平差模型构建。. PPP/INS组合方面的研究：针对PPP中断后至模糊度再收敛需要的时间比较长，导致INS导航精度快速降低，影响整个系统的导航精度，提出采用GNSS多普勒辅助动态PPP定位中周跳探测及利用doppler测速桥接PPP中断并和INS组合的解决思路，提高系统的导航精度。.船载平台上多GNSS天线的精确基线解算方法研究：提出将多个天线形成的基线进行网平差解算，相比于单基线解，模糊度检验的通过率提高了1-2%，为多天线GNSS/INS组合提供更精确和丰富的导航信息。. 精选基准消秩亏的GNSS参考网数据处理方法:提出一种新的参考网数据处理方案：以充分融合DD 和PPP模式的优势。. 一种新型抗差卡尔曼滤波提出:利用拟准探测和系统噪声方差协方差矩阵调整结合的新型滤波。. 多天线姿态解算方法及精度分析：详细推导和比较了直接姿态解算法和最小二乘姿态法模型，评定了姿态内、外符合精度。.非组合PPP技术除了可获取测站精确坐标外，还可以提取测站上方的垂向电离层TEC、对流层、卫星端初始相位偏差与差分码偏差等系统误差参数，为拓展PPP技术在区域/广域观测站网条件下的增强服务提供了技术参考。多天线姿态解算可以为GNSS/INS组合系统提供外部姿态信息，降低系统对INS精度的要求，节约成本，提高移动平台的服务能力。

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