基于四元数方法的GPS航姿解算

应用ＧＰＳ载波相位双差测量来确定载体的航向和姿态需要解决两个主要问题：模糊度的确定和航姿算法。本文提出了ＧＰＳ航姿解算的四元数方法，直接利用ＧＰＳ载波相位双差 算姿态四元数，从而保证了姿态矩阵的正交性能。

GPS-based Attitude Determination Based on Quaternion Algorithm

Attitude determination using GPS carrier phase is successfully applied in aircraft measurement. The GPS attitude determination can be broken into integer ambiguity resolution and operational attitude calculations. This paper presents quaternion algorithm to determine heading and attitude using GPS carrier phase double difference measurements, assuming that the integer ambiguities are known. Unlike the other methods which must calculate the baseline vectors at first, the presented algorithm determines the heading and attitude quaternion directly. And the algorithm can handle not only one baseline to determine two angles of the heading and attitude, but also any multi baselines to calculate the heading and attitude. The optimal configuration of baselines is put forward on the error analysis of the heading and attitude. The simulation results of dual baselines GPS based attitude system show the relationship between the heading and attitude error and baseline configuration.