Comparison of relative navigation methods for large vessel formation
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摘要: 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。Abstract: A relative navigation model based on the pseudo-range double-difference of navigation satellite was built.Pseudo-range single difference based least square algorithm, pseudo-range double-difference based least square algorithm, pseudo-range single difference based EKF algorithm and pseudo-range double-difference based EKF algorithm were designed and were compared by tests.Analysis result shows that pseudo-range double-difference based relative navigation model can eliminate ionosphere, troposphere, multi-path, satellite clock error and receive clock error.EKF algorithm can significantly improve the resolution accuracy of relative navigation information compared with least square algorithm. Under EKF algorithm, the resolution accuracy of pseudo-range double-difference is 10% better than pseudo-range single difference.Under the minimum GDOP value principle, when the number of satellites increases, the distance resolution accuracy becomes better. When baseline length is 2 m, the distance resolution accuracy of pseudo-range double-difference based EKF algorithm can reach within 0.10 m, azimuth resolution accuracy can reach 4.0°, so the test accuracy and frequency in this paper can satisfy the relative navigation demand of keeping quasi dynamic for large vessel formation. 3 tabs, 27 figs, 20 refs.
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图 1 基于伪距单差的相对导航模型
Figure 1. Relative navigation model based on pseudo-range single difference
图 2 基于伪距双差的相对导航模型
Figure 2. Relative navigation model based on pseudo-range double-difference
图 4 算法1基于4颗卫星观测数据的距离曲线
Figure 4. Distance curves of algorithm 1 based on observation data of four satellites
图 5 算法1基于4颗卫星观测数据的方位角曲线
Figure 5. Azimuth curves of algorithm 1 based on observation data of four satellites
图 6 算法2基于4颗卫星观测数据的距离曲线
Figure 6. Distance curves of algorithm 2 based on observation data of four satellites
图 7 算法2基于4颗卫星观测数据的方位角曲线
Figure 7. Azimuth curves of algorithm 2 based on observation data of four satellites
图 8 算法3基于4颗卫星观测数据的距离曲线
Figure 8. Distance curves of algorithm 3 based on observation data of four satellites
图 9 算法3基于4颗卫星观测数据的方位角曲线
Figure 9. Azimuth curves of algorithm 3 based on observation data of four satellites
图 10 算法4基于4颗卫星观测数据的距离曲线
Figure 10. Distance curves of algorithm 4 based on observation data of four satellites
图 11 算法4基于4颗卫星观测数据的方位角曲线
Figure 11. Azimuth curves of algorithm 4 based on observation data of four satellites
图 12 算法1基于6颗卫星观测数据的距离曲线
Figure 12. Distance curves of algorithm l based on observation data of six satellites
图 13 算法1基于6颗卫星观测数据的方位角曲线
Figure 13. Azimuth curves of algorithm 1 based on observation data of six satellites
图 14 算法2基于6颗卫星观测数据的距离曲线
Figure 14. Distance curves of algorithm 2 based on observation data of six satellites
图 15 算法2基于6颗卫星观测数据的方位角曲线
Figure 15. Azimuth curves of algorithm 2 based on observation data of six satellites
图 16 算法3基于6颗卫星观测数据的距离曲线
Figure 16. Distance curves of algorithm 3 based on observation data of six satellites
图 17 算法3基于6颗卫星观测数据的方位角曲线
Figure 17. Azimuth curves of algorithm 3 based on observation data of six satellites
图 18 算法4基于6颗卫星观测数据的距离曲线
Figure 18. Distance curves of algorithm 4 based on observation data of six satellites
图 19 算法4基于6颗卫星观测数据的方位角曲线
Figure 19. Azimuth curves of algorithm 4 based on observation data of six satellites
图 20 算法1基于8颗卫星观测数据的距离曲线
Figure 20. Distance curves of algorithm 1 based on observation data of eight satellites
图 21 算法1基于8颗卫星观测数据的方位角曲线
Figure 21. Azimuth curves of algorithm 1 based on observation data of eight satellites
图 22 算法2基于8颗卫星观测数据的距离曲线
Figure 22. Distance curves of algorithm 2 based on observation data of eight satellites
图 23 算法2基于8颗卫星观测数据的方位角曲线
Figure 23. Azimuth curves of algorithm 2 based on observation data of eight satellites
图 24 算法3基于8颗卫星观测数据的距离曲线
Figure 24. Distance curves of algorithm 3 based on observation data of eight satellites
图 25 算法3基于8颗卫星观测数据的方位角曲线
Figure 25. Azimuth curves of algorithm 3 based on observation data of eight satellites
图 26 算法4基于8颗卫星观测数据的距离曲线
Figure 26. Distance curves of algorithm 4 based on observation data of eight satellites
图 27 算法4基于8颗卫星观测数据的方位角曲线
Figure 27. Azimuth curves of algorithm 4 based on observation data of eight satellites
表 1 基于4颗卫星的计算结果
Table 1. Calculated result based on four satellites
表 2 基于6颗卫星的计算结果
Table 2. Calculated result based on six satellites
表 3 基于8颗卫星的计算结果
Table 3. Calculated result based on eight satellites
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