针对城市峡谷及高动态应用场景下卫星伪距观测受大气建模残差、多径及观测噪声影响,易产生随机扰动与缓慢变化的偏差,从而导致伪距误差增大并呈现明显的非平稳特征的问题,提出了一种移动射频测距辅助的卫星伪距误差抑制方法.该方法在原...针对城市峡谷及高动态应用场景下卫星伪距观测受大气建模残差、多径及观测噪声影响,易产生随机扰动与缓慢变化的偏差,从而导致伪距误差增大并呈现明显的非平稳特征的问题,提出了一种移动射频测距辅助的卫星伪距误差抑制方法.该方法在原始北斗卫星伪距观测基础上,引入具有独立量测特性的移动射频测距信息,构建对卫星伪距的补充观测约束,利用两者在误差来源上的独立性,在联合解算过程中抑制伪距误差的传播.无人机动态实验结果表明,所提出的方法能够显著降低北斗卫星伪距残差的均方根(root mean square,RMS),相较于载波相位平滑伪距方法,伪距残差RMS降低82.3%.所提出的移动射频测距辅助卫星伪距误差抑制方法在复杂动态与遮挡环境下具有良好的伪距误差抑制能力,克服了载波相位平滑伪距对连续载波锁定的依赖及其对系统性偏差抑制能力不足的局限,具有鲁棒性强、适应性好的特点,为复杂环境下北斗卫星伪距误差抑制与观测质量提升提供了一种有效途径.展开更多
近年来北斗2号卫星导航接收机在军民用领域得到广泛应用。随着北斗3号卫星导航系统的不断发展和完善,北斗3号单模多频点卫星导航接收机的研制成为北斗卫星导航领域重要研究方向之一。结合北斗3号卫星导航系统不同频点卫星信号特点,从工...近年来北斗2号卫星导航接收机在军民用领域得到广泛应用。随着北斗3号卫星导航系统的不断发展和完善,北斗3号单模多频点卫星导航接收机的研制成为北斗卫星导航领域重要研究方向之一。结合北斗3号卫星导航系统不同频点卫星信号特点,从工程实际应用的角度出发,设计了一种基于FPGA(field-programmable gate array)+DSP(digital signal processing)架构的北斗3号单模多频点卫星导航接收机。通过对接收机总体架构进行设计,详细阐述了不同频点卫星信号射频模块、基带信号捕获跟踪模块、导航定位解算模块的机理,设计了对应的北斗3号卫星导航接收机硬件驱动电路。最后,通过卫星导航信号模拟器端设置静态、高动态定位场景,验证设计方案的可行性。试验结果表明,设计并实现的接收机能够满足技术指标要求,进一步验证了本文提出方案的有效性。展开更多
Atomic spin gyroscopes are promising candidates for next-generation inertial navigation due to extremely high theoretical precision,relatively small size among atomic gyroscopes,and promising potential for miniaturiza...Atomic spin gyroscopes are promising candidates for next-generation inertial navigation due to extremely high theoretical precision,relatively small size among atomic gyroscopes,and promising potential for miniaturization.In particular,the spin-exchange relaxation-free(SERF)atomic gyroscope relies on optical pumping to polarize atoms,enabling rotation sensing through the Faraday optical rotation angle(FORA).However,fluctuations in atomic density introduce systematic errors in FORA measurements,limiting long-term stability.We present a data-driven decoupling method that isolates atomic density fluctuations from the FORA signal by modeling spatially resolved light absorption in the vapor cell.The model accounts for the spatial distribution of spin polarization in the pump-light interaction volume,density-dependent relaxation rates,wall-induced relaxation,and polarization diffusion,and is implemented within a finite-element framework.Compared to the conventional Lambert-Beer law,which assumes one-dimensional homogeneity,our approach captures the full threedimensional density and polarization distribution,significantly improving the accuracy of light absorption modeling.The resulting absorption-density maps are used to train a feedforward neural network,yielding a high-precision estimator for atomic density fluctuations.This estimator enables the construction of a decoupling equation that separates the density contribution from the FORA signal.Experimental validation shows that this method improves the bias instability atσ(100 s)of the gyroscope was improved by 73.1%compared to traditional platinum-resistance-based stabilization.The proposed framework is general and can be extended to other optical pumping-based sensors,such as optically pumped magnetometers.展开更多
The current inertial measurement unit(IMU)and odometry fusion navigation algorithms often incorporate non-holonomic constraints(NHC)to obtain three-dimensional velocity in the navigation frame.However,due to the integ...The current inertial measurement unit(IMU)and odometry fusion navigation algorithms often incorporate non-holonomic constraints(NHC)to obtain three-dimensional velocity in the navigation frame.However,due to the integral nature of the dead reckoning algorithm,the attitude errors of the IMU accumulate over time,causing the velocity transformation results to fail to accurately reflect the threedimensional velocity in the navigation frame.Based on the fact that during a vehicle's horizontal and uniform motion,the vertical acceleration is consistent with gravitational acceleration,this paper proposes an IMU/odometry fusion navigation algorithm based on horizontal attitude constraints(HAC).Building on non-holonomic constraints,this algorithm determines the motion state of the vehicle through accelerometer output and zeroes out the pitch and roll angles during horizontal and uniform motion.Verified through two sets of real-world vehicle test data,this algorithm improves horizontal positioning accuracy by approximately 63%and 70%,and vertical positioning accuracy by 98%and 97%,compared with the traditional NHC IMU/odometer fusion algorithm.展开更多
文摘针对城市峡谷及高动态应用场景下卫星伪距观测受大气建模残差、多径及观测噪声影响,易产生随机扰动与缓慢变化的偏差,从而导致伪距误差增大并呈现明显的非平稳特征的问题,提出了一种移动射频测距辅助的卫星伪距误差抑制方法.该方法在原始北斗卫星伪距观测基础上,引入具有独立量测特性的移动射频测距信息,构建对卫星伪距的补充观测约束,利用两者在误差来源上的独立性,在联合解算过程中抑制伪距误差的传播.无人机动态实验结果表明,所提出的方法能够显著降低北斗卫星伪距残差的均方根(root mean square,RMS),相较于载波相位平滑伪距方法,伪距残差RMS降低82.3%.所提出的移动射频测距辅助卫星伪距误差抑制方法在复杂动态与遮挡环境下具有良好的伪距误差抑制能力,克服了载波相位平滑伪距对连续载波锁定的依赖及其对系统性偏差抑制能力不足的局限,具有鲁棒性强、适应性好的特点,为复杂环境下北斗卫星伪距误差抑制与观测质量提升提供了一种有效途径.
文摘近年来北斗2号卫星导航接收机在军民用领域得到广泛应用。随着北斗3号卫星导航系统的不断发展和完善,北斗3号单模多频点卫星导航接收机的研制成为北斗卫星导航领域重要研究方向之一。结合北斗3号卫星导航系统不同频点卫星信号特点,从工程实际应用的角度出发,设计了一种基于FPGA(field-programmable gate array)+DSP(digital signal processing)架构的北斗3号单模多频点卫星导航接收机。通过对接收机总体架构进行设计,详细阐述了不同频点卫星信号射频模块、基带信号捕获跟踪模块、导航定位解算模块的机理,设计了对应的北斗3号卫星导航接收机硬件驱动电路。最后,通过卫星导航信号模拟器端设置静态、高动态定位场景,验证设计方案的可行性。试验结果表明,设计并实现的接收机能够满足技术指标要求,进一步验证了本文提出方案的有效性。
基金supported by the Beijing Natural Science Foundation(Grant No.3252013)the Innovation Program for Quantum Science and Technology(Grant No.2021ZD0300402)+1 种基金the National Natural Science Foundation of China(Grant No.61673041)Key Area Research and Development Program of Guangdong Province(Grant No.2021B0101410005)。
文摘Atomic spin gyroscopes are promising candidates for next-generation inertial navigation due to extremely high theoretical precision,relatively small size among atomic gyroscopes,and promising potential for miniaturization.In particular,the spin-exchange relaxation-free(SERF)atomic gyroscope relies on optical pumping to polarize atoms,enabling rotation sensing through the Faraday optical rotation angle(FORA).However,fluctuations in atomic density introduce systematic errors in FORA measurements,limiting long-term stability.We present a data-driven decoupling method that isolates atomic density fluctuations from the FORA signal by modeling spatially resolved light absorption in the vapor cell.The model accounts for the spatial distribution of spin polarization in the pump-light interaction volume,density-dependent relaxation rates,wall-induced relaxation,and polarization diffusion,and is implemented within a finite-element framework.Compared to the conventional Lambert-Beer law,which assumes one-dimensional homogeneity,our approach captures the full threedimensional density and polarization distribution,significantly improving the accuracy of light absorption modeling.The resulting absorption-density maps are used to train a feedforward neural network,yielding a high-precision estimator for atomic density fluctuations.This estimator enables the construction of a decoupling equation that separates the density contribution from the FORA signal.Experimental validation shows that this method improves the bias instability atσ(100 s)of the gyroscope was improved by 73.1%compared to traditional platinum-resistance-based stabilization.The proposed framework is general and can be extended to other optical pumping-based sensors,such as optically pumped magnetometers.
基金from the National Key Research and Development Program project"Adaptive Navigation Software and Hardware Technology(2018YFB0505200)."。
文摘The current inertial measurement unit(IMU)and odometry fusion navigation algorithms often incorporate non-holonomic constraints(NHC)to obtain three-dimensional velocity in the navigation frame.However,due to the integral nature of the dead reckoning algorithm,the attitude errors of the IMU accumulate over time,causing the velocity transformation results to fail to accurately reflect the threedimensional velocity in the navigation frame.Based on the fact that during a vehicle's horizontal and uniform motion,the vertical acceleration is consistent with gravitational acceleration,this paper proposes an IMU/odometry fusion navigation algorithm based on horizontal attitude constraints(HAC).Building on non-holonomic constraints,this algorithm determines the motion state of the vehicle through accelerometer output and zeroes out the pitch and roll angles during horizontal and uniform motion.Verified through two sets of real-world vehicle test data,this algorithm improves horizontal positioning accuracy by approximately 63%and 70%,and vertical positioning accuracy by 98%and 97%,compared with the traditional NHC IMU/odometer fusion algorithm.
