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摘要:
在全球导航卫星系统(GNSS)不可用情况下，低地球轨道(LEO)卫星机会信号(SOP)定位技术是一种有效的导航定位解决方案。单LEO星座机会信号定位技术面临星座构型不足或可见卫星偏少等问题，多LEO星座机会信号融合定位技术可有效解决该问题。通过分析瞬时多普勒定位原理，建立了Iridium/ORBCOMM机会信号融合定位模型，引入基于Helmert方差估计的加权最小二乘算法进一步提高定位精度。实测数据表明：基于Helmert方差估计的Iridium/ORBCOMM机会信号融合定位精度优于70 m，验证了多LEO星座机会信号融合定位的可行性和有效性。
Abstract:In the environment where global navigation satellite system (GNSS) signals are not available, positioning based on low Earth orbit (LEO) satellites signals of opportunity (SOP) is an effective positioning solution. At present, positioning based on the single LEO constellation SOP is faced with problems such as insufficient constellation configuration or less visible satellites. While, fusion positioning based on the multi-LEO constellations can effectively solve this problem, as it can improve the positioning accuracy, enhance the positioning reliability and availability, and make full use of the on-orbit non-navigational satellites that can be used for positioning. Based on the analysis of instantaneous Doppler positioning principle, the Iridium and ORBCOMM SOPs fusion positioning model is established, and the weighted least squares algorithm based on Helmert variance estimation is introduced to further improve the positioning accuracy. The experiment results show that the positioning accuracy of Iridium and ORBCOMM SOPs fusion based on Helmert variance estimation is better than 70 m, which verifies the feasibility and effectiveness of multi-LEO constellation SOPs fusion positioning.
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Key words:
- signal of opportunity (SOP) /
- Iridium /
- ORBCOMM /
- fusion positioning /
- Helmert
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图 1 等多普勒频率圆锥面示意图
Figure 1. Diagram of a conical surface composed of points with equal Doppler frequencies
图 11 Iridium/ORBCOMM Helmert融合定位结果
Figure 11. Iridium/ORBCOMM Helmert positioning results
表 1 高程辅助情况下不同方式定位结果对比
Table 1. Comparison of positioning results of different methods with altitude aiding
星座方式 RMSE/m 定位误差均值/m Iridium 147.0 132.8 ORBCOMM 122.7 105.0 Iridium/ORBCOMM直接融合 82.2 73.0 Iridium/ORBCOMM Helmert融合 68.1 42.9 注：表中结果均为水平方向定位精度。 
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