基于ARM平台的GPS的船舶定向装置研究.docVIP

摘 要 导航技术具有悠久的发展历史，而系统化的导航技术如天文导航产生于人类文明出现之后。天文导航中，惯性导航和GPS导航是人们非常熟悉的两种导航技术。由陀螺仪和加速度计组成的惯性导航系统，其导航设备非常精密，成本高昂，且导航误差会随着时间的推移而积累。GPS具有高精度、全天候、全球覆盖、方便灵活、成本低廉的特点，使其应用日益广泛。由于GPS差分技术的日趋成熟， 对于GPS载波相位观测量的定向技术的研究逐渐成为GPS研究的一个新热点。 基于载波相位船舶定向技术的核心问题就是初始整周模糊度的在航解算。通过对各种整周模糊度的解算方法的分析和比较，本论文选用了一种适合舰船定向的整周模糊度快速解算法—LAMBDA算法。该算法性能较好，理论体系较为完善，能够快速建立初始整周模糊度的搜索空间，可以满足船舶航行时实时动态的要求。基线向量是本论文船舶定向中解算的直接对象。 本论文选用一块ARM9开发板、一块7英寸的触摸屏、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、电源以等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。 周跳的探测与修复对于载波相位定向技术的稳定性和可靠性至关重要，成功的修复才能获得高精度的结果。本文综合各种周跳探测和与修复的算法的优点，初步探讨了适合船舶定向的周跳检测与修复算法。 本论文基于由Platform Builder5.0集成开发平台定制的Windows CE5.0嵌入式操作系统，采用VC集成开发环境完成了定向程序的开发。经过对数据的处理和定向算法的解算，获得载体的二维姿态角，证明了算法的可行性。 关键词 GPS；载波相位；数据处理；船舶定向；整周模糊度；周跳检测 Abstract Navigation technology has a long history of development, but systematic navigation techniques, such as celestial navigation appeared after the human civilization. In celestial navigation, inertial navigation and GPS navigation are two kinds of navigation technology that people are very familiar with. The inertial navigation comprised by the gyroscope and accelerometer, the navigation device with great precision, high cost, and the navigation error accumulated over time. GPS has high accuracy, all-weather, global coverage, low cost, convenient and flexible characteristics, so it has been widely used. Because GPS differential technology matures, the GPS carrier phase measurement positioning technology research has gradually become a new hotspot in the study of GPS. The initial integer ambiguity solution in the air is the core of ship orientation technology based on the carrier phase. Through analyzing all kinds of ambiguity resolution method for analysis and comparison, this paper proposed a fast integer ambiguity resolution algorithm suited to ship orientation?LAMBDA algorithm. The algorithm performance is better, has a more perfect oretical system, able to quickly establish the initial integer ambiguity search space