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GNSS引导两飞行器交会对接的前提是实时可靠地估计相位模糊度。针对卫星和飞行器的高动态性所引发的频繁换星问题,提出一种实时递归相位模糊度估计方法。该算法能够有效处理失锁所造成的卫星起落现象,同时充分利用历史观测与当前观测方程中部分模糊度分量的关联性,使得模糊度估计的成功率对可见卫星数目的减少不敏感。为了验证该算法在空间飞行器对接中的精度和成功率,采用GPS模拟器仿真两飞行器近程导引段和最终逼近段的过程,应用新算法实时估计两飞行器间相对位置,精度达到亚厘米级水平,成功率在可见星数递减时依然渐进逼近100%。
The premise of GNSS guiding the rendezvous and docking of two aircraft is to estimate the phase ambiguity in real time and reliably. Aiming at the frequent star swapping caused by the high dynamic of satellite and aircraft, a real-time recursive phase ambiguity estimation method is proposed. The algorithm can effectively deal with the phenomenon of satellite landing caused by the lost lock, and make full use of the correlation between the historical observation and the partial ambiguity components in the current observation equation, making the success rate of the ambiguity estimation insensitive to the decrease of the number of visible satellites. In order to verify the accuracy and success rate of the algorithm in the spacecraft docking, the GPS simulator was used to simulate the process of the two-aircraft short-range guidance segment and the final approximation segment. The new algorithm was used to estimate the relative position between the two aircraft in real time with the accuracy of sub-centimeter Level, the success rate is still gradually approaching 100% when the visible number of stars decreases.