基于WindowsCE系统的船舶定向装置研究分析.docVIP

摘 要 由陀螺仪和加速度计组成的惯性导航系统，其缺陷是导航误差随着时间的增加而积累以及其价格较昂贵。GPS高精度、全天候、全球覆盖、方便灵活的特点以及其价格优势应用日益广泛。随着GPS差分技术的日趋成熟，研究GPS载波相位观测量的定向技术成为GPS研究的一个新热点。 本论文选用两块同种型号低成本的Thales AC12 OEM GPS接收机、两个与GPS接收机配套的圆盘式天线、一块ARM9开发板、一块7英寸的触摸屏、电源以及数根连接电缆构成嵌入式硬件平台。连接两根GPS信号接收天线的机架，构成基于载波相位船舶定向的基线向量。基线向量是本论文船舶定向中解算的直接对象。 初始整周模糊度的在航解算是基于载波相位船舶定向技术的核心问题。通过对多种初始整周模糊度在航解算算法的分析和比较，本论文构建了一种较为适合船舶定向的整周模糊度在航解算算法，并对该算法的数学模型进行了详细的理论推导。该算法将加权最小二乘法和整数高斯变换法的优点有机地综合在一起，快速建立初始整周模糊度的有哪些信誉好的足球投注网站空间。并根据船舶航行时的实际状态，利用多种约束条件剔除不正确的模糊度组合，从而提高整周模糊度的有哪些信誉好的足球投注网站效率，以满足船舶航行时实时动态的要求。 周跳的检测和修复决定了基于载波相位船舶定向技术的稳定性和可靠性。本论文在比较了一些周跳检测与修复算法优缺点的基础上，初步探讨了适合船舶定向的周跳检测与修复算法，可以解决瞬间的GPS卫星失锁情况。 本论文基于Windows CE5.0嵌入式系统，该系统由Platform Builder5.0集成开发平台定制而成。定向程序的开发采用VC集成开发环境，将操作系统烧入ARM9之后，然后用EVC嵌入式集成开发环境改写定向程序源代码，经修改后将其烧入ARM9中。 本嵌入式GPS定向装置经过多次实验，证明算法是可行的，达到了船舶定向的实时性和精度要求。 关键词 载波相位；船舶定向；整周模糊度；周跳检测 Abstract Inertial navigation system which is composed of gyroscope and accelerometer has two defects which are accumulation of navigation error along of time and more expensive price. The GPS has increasing application foreground because of its high-precision, all-weather, global coverage, convenient, flexible features and price advantage. Along with increasing mature GPS differential technology, the research of orientation technology using GPS carrier phase measurement becomes a new hot spot. In this paper, the embedded hardware platform which is composed of two same models of low-cost Thales AC12 OEM GPS receivers, two assorted GPS receiver antennas, an ARM9 development board, a 7-inch touch screen, power supply and a number of connecting cables. Baseline vector of ship orientation based on carrier phase is constituted by two connected GPS signal receiving antennas. In this paper, Baseline vector is the direct solution object in ship orientation. The solution on the fly of initial integer ambiguity is a key problem of ship orientation technology based on carrier phase. According to analysis and comparison of a variety of solver algorithms of initial integer ambiguity on t