旋转条件下非连续卫星导航信号处理技术

针对传统卫星导航技术无法估计旋转载体的转速, 且旋转导致的卫星信号非连续性使得定位和转速估计更加困难的问题，提出一种基于多天线结构的开环跟踪与差分卡尔曼滤波相结合的跟踪定位方法, 并利用相邻天线间的多普勒频率差值实现载体转速估计。同时，利用开环结构无反馈回路和快拍方式工作的特点实现对非连续信号的跟踪。差分卡尔曼滤波以相邻历元间差分值进行建模, 消除原始观测量中公共偏差, 实现跟踪信息的融合滤波和定位。最后，利用相邻天线间共视卫星的多普勒频率差值实现载体转速估计。基于模拟信号和实际信号的实验结果表明，所提算法能够实现对卫星信号的持续跟踪, 并且获得高精度的定位结果, 对转速的估计误差的标准差不超过1 rps。

Processing technology of discontinuous satellite navigation signal under rotating condition

Aiming at the problem that the traditional satellite navigation technology is unable to estimate the roll rate of the spinning vehicle, and the discontinuity of satellite signal caused by rotation makes the estimation of positioning more difficult. A tracking and positioning method based on the combination of open-loop tracking and differential Kalman filter with multi antenna structure is proposed. And roll rate is estimated by Doppler difference between adjacent antennas. In this paper, the open-loop structure without feedback loop and snap-shot mode is used to track the discontinuous signal. Differential Kalman filter is modeled by the difference between adjacent epochs to eliminate the common error in the observation and realize the fusion filtering and positioning. Finally, the roll rate is estimated by Doppler difference between adjacent antennas. Experiments based on both simulation signal and real signal show that the proposed algorithm can track satellite signal continuously and obtain high-precision positioning. The standard deviation of the roll rate error is less than 1 rps.