CN116009044A - A single-antenna ship attitude measurement method, device and electronic equipment - Google Patents
A single-antenna ship attitude measurement method, device and electronic equipment Download PDFInfo
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Abstract
The invention relates to a method and a device for measuring the ship attitude with a single antenna and electronic equipment, wherein the method comprises the following steps: acquiring carrier phase observation values of each group of satellites in a single-antenna GNSS system of a target ship; the carrier phase observation values of adjacent epochs are differenced by using an epoch differential algorithm, and a single-antenna TDCP speed measurement model under a geocentric coordinate system is determined; constructing a carrier speed model under a station coordinate system based on the single-antenna TDCP speed measurement model under the earth coordinate system; and solving according to the carrier speed model under the station center coordinate system and the gravitational acceleration of the target ship to obtain the attitude information of the target ship. The invention realizes the attitude measurement of the ship by using a single antenna on the ship with limited space.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a method and a device for measuring ship attitude with a single antenna and electronic equipment.
Background
The accurate acquisition of the carrier attitude information plays an extremely important role in the fields of navigation, guidance, control or target tracking and the like. Currently, attitude determination is generally performed based on a Global Navigation Satellite System (GNSS), and the method has the advantages of high precision, low cost, low power consumption and no error accumulation, and is generally applied to the fields of robots, unmanned aerial vehicles, ships and the like.
Currently, many sensors may be used for gesture detection, such as inertial measurement units, star sensors, magnetometer pins, etc. In recent years, attitude measurement technology based on a global satellite navigation system GNSS (Global Navigation Satellite System) is attracting attention from students at home and abroad. Attitude determination is an important branch of GNSS applications. Compared with the traditional inertial navigation system, the GNSS attitude determination technology has the advantages of high precision, low cost, low power consumption, no error accumulation, no need of real-time correction and frequent maintenance, and the like, and most GNSS attitude determination methods mainly adopt multiple antennas in the field of ships at present and solve attitude information such as carrier yaw angle, roll angle and pitch angle by resolving multiple groups of baseline vectors.
However, in practical application, the method adopting multi-antenna gesture measurement has some drawbacks in some special scenes. In particular, for some micro-systems, such as small unmanned aerial vehicles, unmanned ships, micro robots, etc., there are some drawbacks: 1. the space is limited, and the installation difficulty of multiple antennas is high; 2. if the service time is longer and longer, the antenna brackets are easy to deform, so that the baseline vector is changed, and the estimated angle has larger deviation.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a method, an apparatus and an electronic device for measuring the ship attitude with a single antenna, which can achieve the purpose of measuring the actual ship attitude on a ship with limited space by using a single antenna.
In order to achieve the above object, in one aspect, the present invention provides a single antenna ship attitude measurement method, comprising:
acquiring carrier phase observation values of each group of satellites in a single-antenna GNSS system of a target ship;
the carrier phase difference algorithm between epochs is utilized to carry out difference on the carrier phase observation values of adjacent epochs, and a single-antenna TDCP speed measurement model under a geocentric coordinate system is determined;
constructing a carrier speed model under a station coordinate system based on the single-antenna TDCP speed measurement model under the earth coordinate system;
and solving according to the carrier speed model under the station center coordinate system and the gravitational acceleration of the target ship to obtain the attitude information of the target ship.
In some possible implementations, the determining the single-antenna TDCP velocimetry model under the geocentric coordinate system by using the inter-epoch carrier-phase difference algorithm to difference carrier-phase observations of adjacent epochs includes:
constructing an initial carrier phase observation model with respect to the carrier phase observations;
when the satellite signal has no cycle slip, the carrier phase observation values of adjacent epochs are differenced based on a TDCP algorithm to eliminate ambiguity parameters in the carrier phase observation model, and a target carrier phase observation model is obtained through error correction;
and solving the target carrier phase observation model based on a least square algorithm, and determining a single-antenna TDCP speed measurement model under the geocentric coordinate system.
In some possible implementations, the initial carrier phase observation model expression is as follows:
in the method, in the process of the invention,
representing the carrier wavelength; G. c, E, R denote GPS, BDS, galileo, GLONASS satellites, respectively;
Representing carrier phase observations;
Representing the geometric distance between satellites;
Representing the speed of light in vacuum;
Representing the clock speed of a GNSS system receiver on the ship;
Representing satellite clock speed;
Representing an ambiguity parameter;
Representing tropospheric delay;
Representing ionospheric delay;
Representing relativistic effect correction;
Representing error factors.
In some possible implementations, the expression of the geometric distance between satellites is as follows:
in the method, in the process of the invention,
representing the geometric distance between satellites;
Representing the ship position and the satellite direction cosine;
Representing the time;
Representing a ship position vector;
Representing satellite position vectors.
In some possible implementations, the calculating the target carrier phase observation model based on the least squares algorithm does the single antenna TDCP velocimetry model under the geocentric coordinate system includes:
when the number of the selected satellites is larger than a satellite number threshold value, calculating a ship position change vector in the target carrier phase observation model according to a least square algorithm;
and obtaining a single-antenna TDCP speed measurement model under the geocentric coordinate system according to the ship position change vector.
In some possible implementations, the constructing a carrier velocity model in the geocentric coordinate system based on the single-antenna TDCP velocimetry model in the geocentric coordinate system includes:
and rotating the single-antenna TDCP speed measurement model under the geocentric coordinate system to obtain the carrier speed model under the station-centric coordinate system.
In some possible implementations, the rotating the single-antenna TDCP velocimetry model in the geocentric coordinate system to obtain the carrier velocity model in the station centric coordinate system includes:
obtaining coordinates in a spherical coordinate system according to the coordinates in the geocentric coordinate system;
obtaining a rotation matrix and a conversion matrix according to the required rotation angle;
and obtaining a carrier speed model under the station center coordinate system according to the coordinates under the spherical coordinate system, the rotation matrix and the transformation matrix.
In some possible implementations, the attitude information of the target vessel includes a pseudo heading angle, a pseudo pitch angle, and a pseudo roll angle; solving according to the carrier speed model under the station center coordinate system and the gravitational acceleration of the target ship to obtain the attitude information of the target ship, wherein the method comprises the following steps:
the carrier speed model under the station-core coordinate system comprises the speed of an east component, the speed of a north component and the speed of a vertical component in the station-core coordinate system, and a pseudo course angle of the target ship is obtained according to the speed of the east component and the speed of the north component;
obtaining a pseudo pitch angle of the target ship according to the speed of the east component, the speed of the north component and the speed of the vertical component;
determining an acceleration of the east component, an acceleration of the north component and an acceleration of the vertical component according to the speed of the east component, the speed of the north component and the speed of the vertical component;
and obtaining the pseudo roll angle of the target ship according to the gravity acceleration of the target ship, the acceleration of the east component, the acceleration of the north component and the acceleration of the vertical component.
On the other hand, the invention also provides a single-antenna ship attitude measurement device, which comprises:
the carrier phase acquisition unit is used for acquiring carrier phase observation values of each group of satellites in the single-antenna GNSS system of the target ship;
the single-antenna TDCP speed measurement model construction unit utilizes a carrier phase difference algorithm between epochs to calculate the difference of carrier phase observation values of adjacent epochs, and determines a single-antenna TDCP speed measurement model under a geocentric coordinate system;
the carrier speed model building unit is used for building a carrier speed model under the station coordinate system based on the single-antenna TDCP speed measurement model under the earth coordinate system;
and the data acquisition unit is used for solving the attitude information of the target ship according to the carrier speed model under the station-center coordinate system and the gravitational acceleration of the target ship.
In another aspect, the invention also provides an electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor is coupled to the memory and is configured to execute the program stored in the memory, so as to implement the steps in the method for measuring the ship attitude with a single antenna in any one of the foregoing implementation manners.
The beneficial effects of adopting the embodiment are as follows: according to the single-antenna ship attitude measurement method, firstly, carrier phase observation values of each group of satellites are obtained in a single-antenna GNSS system, then, carrier velocity models under a geocentric coordinate system are obtained by differentiating the carrier phase observation values according to a carrier phase difference algorithm between epochs, further, carrier velocity under a station centric coordinate system is obtained according to the carrier velocity models under the geocentric coordinate system, and finally, attitude information of a target ship is obtained according to the carrier velocity models of the target ship and the gravity acceleration of the target ship. According to the invention, the position and the speed of the target ship are obtained by using a single antenna on the ship with limited space and adopting an inter-epoch carrier phase difference algorithm, so that the attitude information of the target ship is calculated.
Drawings
FIG. 1 is a flow chart of a method for measuring the attitude of a ship with a single antenna according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of a single antenna ship attitude measurement device according to the present invention;
fig. 3 is a schematic structural diagram of an embodiment of an electronic device according to the present invention.
Detailed Description
Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and together with the description serve to explain the principles of the invention, and are not intended to limit the scope of the invention.
Fig. 1 is a schematic flow chart of an embodiment of a method for measuring a ship attitude with a single antenna according to the present invention, as shown in fig. 1, which includes:
s101, acquiring carrier phase observation values of each group of satellites in a single-antenna GNSS system of a target ship;
s102, utilizing a carrier phase difference algorithm between epochs to perform difference on carrier phase observation values of adjacent epochs, and determining a single-antenna TDCP speed measurement model under a geocentric coordinate system;
s103, constructing a carrier speed model under a station coordinate system based on the single-antenna TDCP speed measurement model under the earth coordinate system;
and S104, solving according to the carrier speed model under the station center coordinate system and the gravitational acceleration of the target ship to obtain the attitude information of the target ship.
Compared with the prior art, the single-antenna ship attitude measurement method provided by the embodiment of the invention comprises the steps of firstly obtaining carrier phase observation values of each group of satellites in a single-antenna GNSS system, then obtaining a carrier speed model under a geocentric coordinate system according to a carrier phase difference algorithm between epochs, further obtaining carrier speed under a station-centric coordinate system according to the carrier speed model under the geocentric coordinate system, and finally obtaining the attitude information of a target ship according to the carrier speed model of the target ship and the gravity acceleration of the target ship. According to the invention, the position and the speed of the target ship are obtained by using a single antenna on the ship with limited space and adopting an inter-epoch carrier phase difference algorithm, so that the attitude information of the target ship is calculated.
In step S101, the GNSS (Global Navigation Satellite System, global satellite navigation system) may be a single-antenna GNSS system or a multi-GNSS system.
It should be noted that the satellites in the antenna GNSS system in the above embodiments may be, but are not limited to, GPS (Global Positioning System) satellites, BDS (BeiDou Navigation Satellite System) satellites, galileo satellites, and GLONASS (GLOBAL NAVIGATION SATELLITE SYSTEM) satellites.
It should be noted that, compared with a direct difference method based on a position sequence, TDCP (Time Differenced Carrier Phase, inter-epoch carrier phase difference algorithm) avoids the problem of integer ambiguity resolution, and significantly weakens the influence of an ionosphere and a troposphere after epoch difference, so that the speed estimation accuracy can be effectively improved, and the motion gesture of a ship can be estimated better. In some embodiments of the present invention, in step S102, the determining a single antenna TDCP velocimetry model under a geocentric coordinate system by using the inter-epoch carrier phase difference algorithm to perform a difference on carrier phase observations of adjacent epochs includes:
constructing an initial carrier phase observation model with respect to the carrier phase observations;
when the satellite signal has no cycle slip, the carrier phase observation values of adjacent epochs are differenced based on a TDCP algorithm to eliminate ambiguity parameters in the carrier phase observation model, and a target carrier phase observation model is obtained through error correction;
and solving the target carrier phase observation model based on a least square algorithm, and determining a single-antenna TDCP speed measurement model under the geocentric coordinate system.
It is understood that the satellite signals in the above embodiments may be signals received by any of GPS satellites, BDS satellites, galileo satellites, GLONASS satellites.
In a specific embodiment of the present invention, an initial carrier phase observation model is first established according to a carrier phase observation value in satellite s observation data received by a GNSS system receiver on a ship at time t. In some embodiments of the invention, the initial carrier phase observation model expression is as follows:
in the method, in the process of the invention,
representing the carrier wavelength; G. c, E, R denote GPS, BDS, galileo, GLONASS satellites, respectively;
Representing carrier phase observations;
Representing the geometric distance between satellites;
Representing the speed of light in vacuum;
Representing the clock speed of a GNSS system receiver on the ship;
Representing satellite clock speed;
Representing ambiguity parameters, including integer ambiguity and hardware delay;
Representing tropospheric delay;
Representing ionospheric delay;
Representing relativistic effect correction;
Error factors are represented, including errors such as phase winding, solid tide, sea tide and the like, and observation noise.
It should be noted that, the whole-cycle ambiguity is also called as a whole-cycle unknown number, and is the whole-cycle unknown number corresponding to the first observed value of the phase difference between the carrier phase and the reference phase when the carrier phase of the global positioning system technology is measured, and the hardware delay in the GNSS refers to the inconsistent time delays generated by different types of navigation signals at different channels of the satellite and the on-board GNSS system receiver; relativistic effect correction means correction of influence of relativistic effects on electromagnetic wave propagation, a time system, a coordinate system and the like; tropospheric delay is an important error source in the GNSS satellite signal transmission process, and is generally corrected by a model method or a parameter estimation method; ionospheric delay, also known as ionospheric refraction error, is the observed error caused by the ionospheric effect.
In some embodiments of the present invention,
the expression of the geometrical distance between satellites at the moment is as follows:
in the method, in the process of the invention,
representing the geometric distance between satellites;
Representing the ship position and the satellite direction cosine;
Representing the time;
Representing a ship position vector;
Representing satellite position vectors. At the same time (I)>
Moment ship position vector->
Can be expressed as->
Time position vector->
And->
And (2) sum:
it should be noted that, when the satellite signal is blocked by an obstacle and temporarily interrupted, or is out of lock due to interference of a radio signal, the counter cannot continuously count, and when the signal is re-tracked, the whole cycle count is incorrect, but less than one whole cycle of the phase observation value is still correct, which is called cycle slip. When the satellite signal has no cycle slip, the carrier phase observation values of adjacent epochs are differenced based on a TDCP algorithm to eliminate ambiguity parameters in the carrier phase observation model, namely:
in the method, in the process of the invention,
the method comprises the steps of carrying out a first treatment on the surface of the But->
Can be expressed as: />
The target carrier phase observation model can be expressed as:
further, the target carrier phase observation model can be simplified as:
wherein,,
is an inter-epoch differential symbol;
Is the carrier phase observation;
Is the speed of light;
Clock error of a GNSS system receiver on the ship;
Is a tropospheric delay;
Is ionospheric delay;
Correction for relativistic effects;
Error factors are represented, including errors such as phase winding, solid tide, sea tide and the like, and observation noise.
In some embodiments of the present invention, the calculating the target carrier phase observation model based on the least squares algorithm does the single antenna TDCP velocimetry model under the geocentric coordinate system includes:
when the number of the selected satellites is larger than a satellite number threshold value, calculating a ship position change vector in the target carrier phase observation model according to a least square algorithm;
and obtaining a single-antenna TDCP speed measurement model under the geocentric coordinate system according to the ship position change vector.
In the specific embodiment of the invention, when the threshold value of the satellite number is 4, that is, when the observed satellite number s is greater than 4, the least square method can be used for solving the ship position change vector
The result is:
where Q represents the satellite altitude matrix, and the matrix of X, D, L is expressed as:
the TDCP utilizes the relative position change quantity of the ship to obtain the speed between two adjacent epochs of the carrier, namely a single-antenna TDCP speed measurement model under the geocentric coordinate system:
wherein,,
representing inter-epoch differential symbols;
Representing the carrier wavelength;
A ship position change vector representing the X-axis direction under the geocentric coordinate system;
A ship position change vector representing the Y-axis direction under the geocentric coordinate system;
A ship position change vector representing the Y-axis direction under the geocentric coordinate system;
Representing the speed of light;
Representing the clock error of a GNSS system receiver on the ship;
representation->
Moment ship position vector and->
Time position vector->
And (3) a difference.
In some embodiments of the present invention, the constructing a carrier velocity model in a geocentric coordinate system based on the single-antenna TDCP velocity model in the geocentric coordinate system includes:
and rotating the single-antenna TDCP speed measurement model under the geocentric coordinate system to obtain the carrier speed model under the station-centric coordinate system.
In some embodiments of the present invention, the rotating the single-antenna TDCP velocimetry model in the geocentric coordinate system to obtain the carrier velocity model in the station-centric coordinate system includes:
obtaining coordinates in a spherical coordinate system according to the coordinates in the geocentric coordinate system;
obtaining a rotation matrix and a conversion matrix according to the required rotation angle;
and obtaining a carrier speed model under the station center coordinate system according to the coordinates under the spherical coordinate system, the rotation matrix and the transformation matrix.
In some embodiments of the invention, the ship points are reduced to a sphere with the average radius of the earth as the radius, so we only consider coordinate axis rotation, since coordinate translation does not affect the vector component of the velocity vector.
The geocentric coordinates are expressed by (X, Y, Z), and the spherical coordinates are expressed by [ (X, Y, Z) ]
) The geodetic coordinates are represented by (B, L, H), wherein the coordinate conversion formula for calculating the spherical coordinates from the geodetic coordinates is:
the station center coordinate system rotates clockwise around the Z axis
Angle, rotate counterclockwise around new Y-axis +.>
And (3) reversing the X axis to obtain the spherical station coordinate system coordinate, so that the speed formula of the first station coordinate system is as follows:
on the other hand, we require that the horizontal velocity be reduced to the sphere of average radius, so the north and east velocity component vector of the ship is multiplied by a scaling factor, namely the velocity formula of the second station coordinate system:
in the first station core coordinate system speed formula and the second station core coordinate system speed formula, (-)
) The spherical coordinates of the ship points can be obtained through calculation of geocentric coordinates according to a coordinate conversion formula;
Is the velocity of the east, north and vertical (sky) components in the spherical station center coordinate system;
Three velocity vectors for the stations in the geocentric coordinate system;
Is the average radius of the earth, taking 6371 km, < >>
Is a rotation matrix corresponding to rotation around X axis, Y axis and Z axis, +.>
The conversion matrix for reversing the X axis is specifically defined as follows:
in the middle of
For the rotation angle, the following can be obtained by taking the above corresponding formula into the velocity formula of the first station coordinate system:
the above formula is a conversion formula from the velocity component vector in the geocentric coordinate system to the velocity component vector in the spherical station-centric coordinate system.
In some embodiments of the invention, the attitude information of the target vessel includes a pseudo heading angle, a pseudo pitch angle, and a pseudo roll angle; solving according to the carrier speed model under the station center coordinate system and the gravitational acceleration of the target ship to obtain the attitude information of the target ship, wherein the method comprises the following steps:
the carrier speed model under the station-core coordinate system comprises the speed of an east component, the speed of a north component and the speed of a vertical component in the station-core coordinate system, and a pseudo course angle of the target ship is obtained according to the speed of the east component and the speed of the north component;
obtaining a pseudo pitch angle of the target ship according to the speed of the east component, the speed of the north component and the speed of the vertical component;
determining an acceleration of the east component, an acceleration of the north component and an acceleration of the vertical component according to the speed of the east component, the speed of the north component and the speed of the vertical component;
and obtaining the pseudo roll angle of the target ship according to the gravity acceleration of the target ship, the acceleration of the east component, the acceleration of the north component and the acceleration of the vertical component.
In the specific embodiment of the invention, the main idea of the single-antenna attitude measurement algorithm is to acquire the speed information of the ship through a GNSS system receiver on the ship and calculate the pseudo attitude angle of the carrier based on the acceleration. The pseudo gesture reflects gesture information about the axis of the velocity vector, and has practical application value of reflecting the gesture. The invention solves the yaw angle, roll angle and pitch angle of the ship according to the obtained speed, and the specific method comprises the following steps:
further, for velocity vectors in the station-center coordinate system
,
,
Differentiation is carried out, and the corresponding acceleration vectors are obtained>
,
,
。
Further, the pseudo-heading angle is defined to be positive with north-east deviation. Pseudo course angle of target ship can be obtained from east and north speeds of GNSS antenna
And pseudo pitch angle->
：
Further, by acceleration and velocity vector in the station-center coordinate system
,
,
Calculating pseudo roll angle of target ship>
. The specific method comprises the following steps:
firstly, decomposing the gravitational acceleration a of a target ship under a geocentric coordinate system into tangential direction and normal direction components of the speed V of a target ship single-antenna TDCP speed measurement model, and expressing the tangential direction and normal direction of the gravitational acceleration of the target ship as
And->
The method comprises the following steps of:
further, the gravity acceleration g= [0, -g0] of the target ship under the station center coordinate system is decomposed into the tangential direction and the normal direction of the speed V of the target ship single-antenna TDCP speed measurement model
And->
Obtaining:
Further, an expression of the synthesized acceleration/is obtained:
l =
-
further, a horizontal vector P is constructed by utilizing the gravity acceleration g of the target ship and the speed V of the target ship single-antenna TDCP speed measurement model, and the formula is as follows:
further, the included angle between P and l is obtained as:
further, a pseudo roll angle of the target ship is obtained:
in order to better implement a single-antenna ship attitude measurement method according to an embodiment of the present invention, correspondingly, as shown in fig. 2, on the basis of the single-antenna ship attitude measurement method, the embodiment of the present invention further provides a single-antenna ship attitude measurement device, where the single-antenna ship attitude measurement device 200 includes:
a carrier phase acquisition unit 201, configured to acquire a carrier phase observation value of each set of satellites in a single antenna GNSS system of a target vessel;
the single-antenna TDCP velocimetry model construction unit 202 is configured to utilize an inter-epoch carrier phase difference algorithm to perform a difference on carrier phase observations of adjacent epochs, and derive a single-antenna TDCP velocimetry model;
the carrier velocity model building unit 203 is configured to build a carrier velocity model under a station center coordinate system based on the single-antenna TDCP velocity measurement model;
and the data acquisition unit 204 is used for solving and obtaining the attitude information of the target ship according to the carrier speed model and the gravitational acceleration of the target ship under the station-center coordinate system.
The single-antenna ship attitude measurement device 200 provided in the foregoing embodiment may implement the technical solution described in the foregoing single-antenna ship attitude measurement method embodiment, and the specific implementation principle of each module or unit may refer to the corresponding content in the foregoing single-antenna ship attitude measurement method embodiment, which is not described herein again.
As shown in fig. 3, the present invention further provides an electronic device 300 accordingly. The electronic device 300 comprises a processor 301, a memory 302 and a display 303. Fig. 3 shows only some of the components of the electronic device 300, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead.
The memory 302 may be an internal storage unit of the electronic device 300 in some embodiments, such as a hard disk or memory of the electronic device 300. The memory 302 may also be an external storage device of the electronic device 300 in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the electronic device 300.
Further, the memory 302 may also include both internal storage units and external storage devices of the electronic device 300. The memory 302 is used for storing application software and various types of data for installing the electronic device 300.
The processor 301 may in some embodiments be a central processing unit (Central Processing Unit, CPU), microprocessor or other data processing chip for executing program code or processing data stored in the memory 302, such as a single antenna marine vessel attitude measurement method according to the invention.
The display 303 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like in some embodiments. The display 303 is used for displaying information at the electronic device 300 and for displaying a visual user interface. The components 301-303 of the electronic device 300 communicate with each other via a system bus.
In some embodiments of the present invention, when the processor 301 executes a single antenna marine vessel attitude measurement program in the memory 302, the following steps may be implemented:
acquiring carrier phase observation values of each group of satellites in a single-antenna GNSS system of a target ship;
the carrier phase difference algorithm between epochs is utilized to carry out difference on the carrier phase observation values of adjacent epochs, and a single-antenna TDCP speed measurement model under a geocentric coordinate system is determined;
constructing a carrier speed model under a station coordinate system based on the single-antenna TDCP speed measurement model under the earth coordinate system;
and solving according to the carrier speed model under the station center coordinate system and the gravitational acceleration of the target ship to obtain the attitude information of the target ship.
It should be understood that: the processor 301 may perform other functions in addition to the above functions when executing a single antenna marine vessel attitude measurement program in the memory 302, see in particular the description of the corresponding method embodiments above.
Further, the type of the electronic device 300 is not particularly limited, and the electronic device 300 may be a mobile phone, a tablet computer, a personal digital assistant (personaldigital assistant, PDA), a wearable device, a laptop (laptop), or other portable electronic devices. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices that carry IOS, android, microsoft or other operating systems. The portable electronic device described above may also be other portable electronic devices, such as a laptop computer (laptop) or the like having a touch-sensitive surface, e.g. a touch panel. It should also be appreciated that in other embodiments of the invention, the electronic device 300 may not be a portable electronic device, but rather a desktop computer having a touch-sensitive surface (e.g., a touch panel).
Those skilled in the art will appreciate that all or part of the flow of the methods of the embodiments described above may be accomplished by way of a computer program to instruct associated hardware, where the program may be stored on a computer readable storage medium. Wherein the computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (10)
1. A method for measuring the attitude of a vessel with a single antenna, comprising:
acquiring carrier phase observation values of each group of satellites in a single-antenna GNSS system of a target ship;
the carrier phase difference algorithm between epochs is utilized to carry out difference on the carrier phase observation values of adjacent epochs, and a single-antenna TDCP speed measurement model under a geocentric coordinate system is determined;
constructing a carrier speed model under a station coordinate system based on the single-antenna TDCP speed measurement model under the earth coordinate system;
and solving according to the carrier speed model under the station center coordinate system and the gravitational acceleration of the target ship to obtain the attitude information of the target ship.
2. The method for measuring the ship attitude with the single antenna according to claim 1, wherein the step of determining the single antenna TDCP velocimetry model in the geocentric coordinate system by using the inter-epoch carrier-phase difference algorithm to perform the difference on the carrier-phase observations of the adjacent epochs comprises:
constructing an initial carrier phase observation model with respect to the carrier phase observations;
when the satellite signal has no cycle slip, the carrier phase observation values of adjacent epochs are differenced based on a TDCP algorithm to eliminate ambiguity parameters in the carrier phase observation model, and a target carrier phase observation model is obtained through error correction;
and solving the target carrier phase observation model based on a least square algorithm, and determining a single-antenna TDCP speed measurement model under the geocentric coordinate system.
3. The method of claim 2, wherein the initial carrier-phase observation model expression is as follows:
4. A method of measuring the attitude of a single antenna vessel according to claim 3, wherein the expression of the geometric distance between satellites is as follows:
5. The method for measuring the attitude of a single-antenna ship according to claim 2, wherein said calculating the target carrier phase observation model based on a least squares algorithm, and indeed the single-antenna TDCP velocimetry model under the geocentric coordinate system, comprises:
when the number of the selected satellites is larger than a satellite number threshold value, calculating a ship position change vector in the target carrier phase observation model according to a least square algorithm;
and obtaining a single-antenna TDCP speed measurement model under the geocentric coordinate system according to the ship position change vector.
6. The method for measuring the attitude of a single-antenna ship according to claim 1, wherein the constructing a carrier velocity model in a station-center coordinate system based on the single-antenna TDCP velocity measurement model in the earth-center coordinate system includes:
and rotating the single-antenna TDCP speed measurement model under the geocentric coordinate system to obtain the carrier speed model under the station-centric coordinate system.
7. The method for measuring the attitude of a single-antenna ship according to claim 6, wherein the step of obtaining the carrier velocity model in the station coordinate system by rotating the single-antenna TDCP velocimetry model in the earth coordinate system comprises the steps of:
obtaining coordinates in a spherical coordinate system according to the coordinates in the geocentric coordinate system;
obtaining a rotation matrix and a conversion matrix according to the required rotation angle;
and obtaining a carrier speed model under the station center coordinate system according to the coordinates under the spherical coordinate system, the rotation matrix and the transformation matrix.
8. The method for measuring the attitude of a single-antenna ship according to claim 1, wherein the attitude information of the target ship includes a pseudo heading angle, a pseudo pitch angle and a pseudo roll angle; solving according to the carrier speed model under the station center coordinate system and the gravitational acceleration of the target ship to obtain the attitude information of the target ship, wherein the method comprises the following steps:
the carrier speed model under the station-core coordinate system comprises the speed of an east component, the speed of a north component and the speed of a vertical component in the station-core coordinate system, and a pseudo course angle of the target ship is obtained according to the speed of the east component and the speed of the north component;
obtaining a pseudo pitch angle of the target ship according to the speed of the east component, the speed of the north component and the speed of the vertical component;
determining an acceleration of the east component, an acceleration of the north component and an acceleration of the vertical component according to the speed of the east component, the speed of the north component and the speed of the vertical component;
and obtaining the pseudo roll angle of the target ship according to the gravity acceleration of the target ship, the acceleration of the east component, the acceleration of the north component and the acceleration of the vertical component.
9. A single antenna marine vessel attitude measurement device, comprising:
the carrier phase acquisition unit is used for acquiring carrier phase observation values of each group of satellites in the single-antenna GNSS system of the target ship;
the single-antenna TDCP speed measurement model construction unit utilizes a carrier phase difference algorithm between epochs to calculate the difference of carrier phase observation values of adjacent epochs, and determines a single-antenna TDCP speed measurement model under a geocentric coordinate system;
the carrier speed model building unit is used for building a carrier speed model under the station coordinate system based on the single-antenna TDCP speed measurement model under the earth coordinate system;
and the data acquisition unit is used for solving the attitude information of the target ship according to the carrier speed model under the station-center coordinate system and the gravitational acceleration of the target ship.
10. An electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor, coupled to the memory, is configured to execute the program stored in the memory to implement the steps of a single antenna marine vessel attitude measurement method according to any one of the preceding claims 1 to 8.
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