The Algorithm Research And DSP Implementation Of BeiDou Attitude Measurement Aided By Baseline Constraint

Attitude measurement is an important direction of navigation and position technology.Not only in military aircraft,artillery shells,missiles and other scenes or civilian ships,but also unmanned aerial vehicles and other scenarios,the attitude measurement in navigation has great application prospect.With the development of the BD satellite navigation system and the gradual expansion of the navigation technology applications,the real-time,accuracy and stability of navigation that the navigation terminal required are getting higher and higher.Therefore,the study of the attitude measurement technology based on the BD system and the development of the platform to achieve the BD attitude measurement technology is an urgent demand for the application of the BD attitude measurement.The high accuracy attitude measurement a lgorithm is mainly based on carrier phase technology,and the most important part of carrier phase technology is to solve the integer ambiguity.The way to solve the integer ambiguity quickly and accurately is related to the complexity of the algorithm,the performance of the algorithm.For this,this thesis focuses on the improvement of the algorithm of attitude measurement based on carrier phase,a high-performance DSP implementation platform is employed and the Algorithm implementation scheme to achieve real-time,accurate and stable attitude calculation is designed.At the first,the attitude measurement model based on pseudo range and carrier phase is established.Different from the traditional method of using the LAMBDA algorithm to solve the integer ambiguity of the attitude measurement system directly,the first step of our method is to determine the baseline length,then put the baseline length into LAMBDA algorithm,use the baseline length to constrain and assist the solution of the integer ambiguity resolution and finally improve the success rate of integer ambiguity resolution.Secondly,in the SYS/BIOS real-time kernel environment,the UDP-based communication between C6678 multi-core DSP and Beidou receiver is carried out.The core1,core2,core3 respectively implement the Beidou data analysis algorithm,floating point solution algorithm,Integer ambiguity resolution algorithm.The Beidou attitude determination algorithm is implemented by DSP,combining the data steam parallel programming mode and Inter-Processor Communication mode.Finally,the performance of IPC technologies,the network port transmission technology and the multi-core DSP implementation scheme of the BD attitude measurement algorithm by connecting verification platform is tested.The test results show that the proposed scheme can meet the requirements in real-time,accuracy and stability.