CN105652308A - Relative measurement method and system for aircrafts - Google Patents
Relative measurement method and system for aircrafts Download PDFInfo
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- CN105652308A CN105652308A CN201410708353.7A CN201410708353A CN105652308A CN 105652308 A CN105652308 A CN 105652308A CN 201410708353 A CN201410708353 A CN 201410708353A CN 105652308 A CN105652308 A CN 105652308A
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Abstract
The invention discloses a relative measurement method for aircrafts. The method comprises: GNSS observation data of two aircrafts are obtained; according to the GNSS observation data, respective track dynamical models of formation flight of the aircrafts are determined and single difference observation equations of the aircrafts are constructed; on the basis of the respective track dynamical models of the two aircrafts, a relative track dynamical model between the two aircrafts is determined; and filtering estimation is carried out on the relative track dynamical model, the relative state, and the single difference observation equations, a relative state between the aircrafts is determined. Meanwhile, the invention also discloses a relative measurement system for aircrafts. With the method and system, measurement of a relative state between aircrafts can be realized.
Description
Technical field
The invention belongs to satellite application field, relate to relative measurement between a kind of aircraft, particularly between a kind of formation flight device to relative measurement,
Background technology
In recent years, along with microelectronics, the advancing by leaps and bounds and commonly used on satellite of micro mechanical technology, satellite occurs in that the trend of miniaturization, low cost. On earth observation field, increasing model task choosing forms constellation by many mutual collaborative works of microsatellite at present, completes earth observation task. Such as, the gravity binary-star system GRACEA/B of USA and Europe cooperation is at a distance of 220km, by GPS and KBR on star observes the process afterwards of data, it is achieved gravitational field high order and high precision inverting; Terra-SAR, TanDEM double star of virtue cooperation, in SAR imaging over the ground on the baseline of 3km, it is achieved high-precision digital elevation model (DEM) inverting. And these formation flying satellites end product qualities determine that with intersatellite baseline precision and system time synchronization precision are directly related.
In low orbit satellite precise orbit determination field, by introducing single star kinetic model in traditional pure geometrical determination of orbit mode, it is possible to be greatly improved orbit determination accuracy. In double star relative localization, seldom adopt kinetic model at present, wherein main reasons is that double star relative motion dynamics model cannot accurately be set up due to double star complicated movement the most.
Summary of the invention
In view of this, for overcoming at least one shortcoming above-mentioned, and provide following at least one advantage. The invention discloses a kind of aircraft relative measurement and system, adopt the present invention can realize the measurement of relative status between aircraft.
For solving above-mentioned technical problem, the present invention by the following technical solutions:
One aspect of the present invention discloses a kind of aircraft relative measurement, comprises the following steps:
The GNSS obtaining two aircraft observes data;
Observe data according to described GNSS, it is determined that the respective dynamics of orbits model of aircraft formation flight, and build the poor observational equation of list of aircraft;
The relative motion dynamics model between two aircraft is determined according to two respective dynamics of orbits models of aircraft;
It is filtered estimating to described relative motion dynamics model, relative status and single poor observational equation, and determines the relative status between aircraft.
Further, also include the observation of the GNSS to said two aircraft data and carry out the step of pretreatment;Described pretreatment includes:
According to the clock difference between two aircraft, the GNSS of said two aircraft is observed data syn-chronization and observes the moment to same.
Further, also include: observe the poor observational equation of list of data construct aircraft according to the GNSS of said two aircraft.
Further, described filtering is estimated described relative motion dynamics model and the poor observational equation of described list to be processed simultaneously.
Further, described relative motion dynamics model does difference acquisition by the respective dynamics of orbits model of said two aircraft.
Further, described relative status includes: relative position between two aircraft, relative velocity and relative acceleration.
Another aspect of the present invention discloses a kind of aircraft relative measurement system, including:
Data acquisition module, is used for obtaining two respective GNSS of aircraft and observes data;
Module determined by model, for observing data according to described GNSS, builds the poor observational equation of list of aircraft and determines the respective dynamics of orbits model that aircraft formation is flown; The relative motion dynamics model between two aircraft is determined according to described dynamics of orbits model;
Filtering output module, for being filtered estimating to obtain the relative status between aircraft to described relative motion dynamics model, relative status and single poor observational equation.
Further, described data acquisition module is additionally operable to that the described GNSS obtained is observed data and carries out pretreatment, described pretreatment include according to two aircraft between clock difference, the GNSS of said two aircraft is observed data syn-chronization and observes the moment to same.
Further, described module determines module, described dynamics of orbits model does difference and obtains described relative motion dynamics model.
Further, described relative motion dynamics model and single poor observational equation are filtered by described filtering output module simultaneously, and the poor observational equation of described list observes data construct by the GNSS according to said two aircraft.
By adopt technique scheme, the present invention reach have the beneficial effect that
What the present invention adopted is on the basis of single star high-precision orbital kinetic model, by obtaining the relative motion dynamics model between aircraft, on single poor observational equation basis, unify to estimate by filtering technique to states such as relative coordinate, relative clock correction, single poor fuzziness (single poor observational equation) and relative motion dynamics systems. Relative to traditional pure geometry Inter-satellite relative measure technology, the present invention can improve fuzziness and be fixed into power and relative accuracy.
The present invention can well meet the demand of earth observation Satellite Formation Flying model task simultaneously, it is thus achieved that the high accuracy information such as Relative position vector and time reference, has important using value and wide popularizing application prospect.
The present invention is simple to operate, by increasing relative orbit model on kinesiology basis, improve the Parameter Estimation Precision of observation segmental arc, utilize this invention can well meet high accuracy state determination of inter satellite demand, can be applicable to formation flight device field of detecting over the ground, there is important using value and wide popularizing application prospect.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in the embodiment of the present invention, below the accompanying drawing used required during the embodiment of the present invention is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to content according to embodiments of the present invention and these accompanying drawings obtain other accompanying drawing.
Fig. 1 is embodiment of the present invention aircraft relative measurement flow chart;
Fig. 2 updates and measurement updaue process schematic the embodiment of the present invention formation flight device time;
Fig. 3 is that flow chart is estimated in embodiment of the present invention filtering;
Fig. 4 is embodiment of the present invention aircraft relative measurement system schematic diagram.
Detailed description of the invention
For the technical scheme making to present invention solves the technical problem that, adopting and the technique effect reached clearly, below in conjunction with accompanying drawing, the technical scheme of the embodiment of the present invention is described in further detail, obviously, described embodiment is only a part of embodiment of the present invention, rather than whole embodiments. Based on the embodiment in the present invention, the every other embodiment that those skilled in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Technical scheme is further illustrated below in conjunction with accompanying drawing and by detailed description of the invention.
Fig. 1 is embodiment of the present invention aircraft relative measurement flow chart.
Fig. 2 updates and measurement updaue process schematic the embodiment of the present invention formation flight device time.
Fig. 3 is that flow chart is estimated in embodiment of the present invention filtering.
With reference to Fig. 1, in step S101, the GNSS obtaining two aircraft respectively observes data. It is obtained thus obtaining GNSS to observe data by carrying out the GNSS signal obtained resolving by carry-on GNSS module that GNSS observes data. This GNSS observes the data that data can be gps data, Big Dipper data, GLONASS data or other satellite navigation systems.
In step s 102, data are observed according to the GNSS obtained in step S101, it is determined that the respective dynamics of orbits model of aircraft formation flight. Those skilled in the art it is known that, it is possible to dynamics of orbits model during to aircraft flight in-orbit is modeled, thus obtain each aircraft respective dynamics of orbits model and build aircraft the poor observational equation of list.
In step s 103, relative motion dynamics model during aircraft respective dynamics of orbits model construction aircraft formation flight is utilized.
In step S104, it is filtered estimating to obtain the relative status between aircraft to relative motion dynamics model, relative status and single poor observational equation.
Pass through above steps, it may be achieved the measurement to the relative status of the aircraft of formation flight. This relative status can be relative position during aircraft formation flight, relative velocity, relative acceleration etc.
As the extension of the above embodiment of the present invention, in step S101, when obtaining GNSS and observing data, need to GNSS signal information pre-processing. After the operation of pretreatment can include the Detection of Gross Errors to GNSS signal and detection and reparation for cycle slips, and according to the clock difference between two aircraft, the GNSS of two aircraft can be observed data syn-chronization and observes the moment to same
By above-mentioned preprocessing process, it is possible to obtain the double frequency GNSS of " totally " observes data. Utilize this GNSS data further combined with, the satellite absolute coordinate of decimeter grade (even centimetre) precision can be obtained in conjunction with relative motion dynamics model, corresponding spaceborne receiver clock-offsets also is able to reach the precision of 1ns.
And, it is poor to insert based on the clock between aircraft, the such as clock difference of 1ns during two satellite formation flyings, the GNSS observation data syn-chronization that different can observe the moment observes the moment to same, it is thus possible to the at utmost abatement sampling timer error impact on relative localization measurement result, it is ensured that the high-acruracy survey of Inter-satellite Baseline and relative time clock synchronize.
Further, as the extension of above-described embodiment, with reference to Fig. 2, the available GNSS obtained observes data, builds the poor observational equation of list of aircraft.For the satellite of formation flight, building single poor observational equation between star, can eliminate GNSS satellite clock correction, and weaken GNSS satellite ephemeris error (after precise ephemeris correction residual error), single poor observational equation is:
In above formula, each meaning of parameters is as follows:
tiMoment reference star and the star carrier phase list poor (week) about aeronautical satellite r that cooperates;
tiMoment reference star and the star carrier phase list poor (week) about aeronautical satellite j that cooperates;
��tAB(ti): tiThe difference (s) of moment reference star receiver clock-offsets and cooperation star receiver clock-offsets;
tiMoment reference star and star pseudorange noise list poor (m) about aeronautical satellite r that cooperates;
tiMoment reference star and star pseudorange noise list poor (m) about aeronautical satellite j that cooperates;
tiMoment reference star and the star integer ambiguity list poor (week) about aeronautical satellite r that cooperates;
tiMoment reference star and the star integer ambiguity list poor (week) about aeronautical satellite j that cooperates;
tiMoment reference star and the star Carrier Phase Noise list poor (m) about aeronautical satellite r that cooperates;
tiMoment reference star and the star Carrier Phase Noise list poor (m) etc. about aeronautical satellite j that cooperates.
Further, as the extension of above-mentioned steps S103, above-mentioned relative motion dynamics model can by doing difference acquisition by respective for aircraft dynamics of orbits model.
In above-mentioned steps S104, between star, relative motion dynamics model is nonlinear system, it is necessary to utilize Taylor's formula to carry out linear expansion at state estimation place. With reference to the step in Fig. 3, in the parameter estimation of nonlinear system, generally adopt EKF. Between based on star in the GNSS carrier phase difference of Relative dynamic equation, adopt parameter estimator EKF to satellite relative position, speed, relative clock correction, single poor fuzziness, relative optical pressure coefficient, relative atmospheric resistance coefficient and the relative experience acceleration of three axles etc. carry out uniform filtering estimation. After above steps operation operation completes, i.e. exportable high precision star base relative status
Fig. 4 is embodiment of the present invention aircraft relative measurement system schematic diagram.
With reference to Fig. 3, within the system, module, filtering output module are determined including data acquisition module, model. Wherein, data acquisition module is used for obtaining two respective GNSS of aircraft and observes data, and it is identical with above-mentioned steps S101 to the acquisition process of GNSS data.
Module determined by model, observes data according to the GNSS obtained, and builds the poor observational equation of list of aircraft and determines the respective dynamics of orbits model that aircraft formation is flown, and determining the relative motion dynamics model between two aircraft according to dynamics of orbits model. This relative motion dynamics model does difference acquisition by two dynamics of orbits models.
Filtering output module, is filtered estimating to obtain the relative status between aircraft to relative motion dynamics model, relative status and single poor observational equation. The operation of this filtering output module is identical with the filtering operation in above-mentioned steps S104.
All or part of content in the technical scheme that above example provides can be realized by software programming, and its software program is stored in the storage medium that can read, storage medium such as: hard disk in computer, CD or floppy disk.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle. It will be appreciated by those skilled in the art that and the invention is not restricted to specific embodiment described here, various obvious change can be carried out for a person skilled in the art, readjust and substitute without departing from protection scope of the present invention.Therefore, although the present invention being described in further detail by above example, but the present invention is not limited only to above example, when without departing from present inventive concept, other Equivalent embodiments more can also be included, and the scope of the present invention is determined by appended right.
Claims (10)
1. an aircraft relative measurement, it is characterised in that comprise the following steps:
The GNSS obtaining two aircraft observes data;
Observe data according to described GNSS, it is determined that the respective dynamics of orbits model of aircraft formation flight, and build the poor observational equation of list of aircraft;
The relative motion dynamics model between two aircraft is determined according to two respective dynamics of orbits models of aircraft;
It is filtered estimating to described relative motion dynamics model, relative status and single poor observational equation, and determines the relative status between aircraft.
2. method as claimed in claim 1, it is characterised in that also include the observation of the GNSS to said two aircraft data and carry out the step of pretreatment; Described pretreatment includes:
According to the clock difference between two aircraft, the GNSS of said two aircraft is observed data syn-chronization and observes the moment to same.
3. method as claimed in claim 1 or 2, it is characterised in that also include: observe the poor observational equation of list of data construct aircraft according to the GNSS of said two aircraft.
4. method as claimed in claim 3, it is characterised in that: described filtering is estimated described relative motion dynamics model and the poor observational equation of described list to be processed simultaneously.
5. method as claimed in claim 1, it is characterised in that described relative motion dynamics model does difference acquisition by the respective dynamics of orbits model of said two aircraft.
6. as claimed in claim 1 method, it is characterised in that described relative status includes: relative position between two aircraft, relative velocity and relative acceleration.
7. an aircraft relative measurement system, it is characterised in that including:
Data acquisition module, is used for obtaining two respective GNSS of aircraft and observes data;
Module determined by model, for observing data according to described GNSS, builds the poor observational equation of list of aircraft and determines the respective dynamics of orbits model that aircraft formation is flown; The relative motion dynamics model between two aircraft is determined according to described dynamics of orbits model;
Filtering output module, for being filtered estimating to obtain the relative status between aircraft to described relative motion dynamics model, relative status and single poor observational equation.
8. system as claimed in claim 7, it is characterized in that: described data acquisition module is additionally operable to that the described GNSS obtained is observed data and carries out pretreatment, described pretreatment include according to two aircraft between clock difference, the GNSS of said two aircraft is observed data syn-chronization and observes the moment to same.
9. system as described in claim 7 or 8, it is characterised in that: described module determines module, described dynamics of orbits model does difference and obtains described relative motion dynamics model.
10. system as claimed in claim 7, it is characterized in that: described relative motion dynamics model and single poor observational equation are filtered by described filtering output module simultaneously, and the poor observational equation of described list observes data construct by the GNSS according to said two aircraft.
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