基于预测滤波器的GPS姿态估计

 采用预测滤波器,利用全球定位系统的双差相位观测量实现载体姿态估计。该方法对初值的选取具有鲁棒性,可以在天线和可见星较少的情况下快速收敛到姿态精确解。仿真结果显示,该方法的姿态估计结果可以与基于非线性最小二乘的姿态估计结果相比拟,且受初值的影响小;采用双差相位测量比采用单差相位测量可以得到更佳的姿态估计效果;当使用三基线的天线阵时,在飞行机动较大的情况下采用近似正交布局的天线结构可以更好地估计姿态。

ATTITUDE DETERMINATION WITH GPS BASED ON PREDICTIVE FILTER

The attitude determination with Global Position System (GPS) can be realized using a predictive filter based on the double difference of the carrier phase. Using the double difference of the carrier phase to determine the attitude is better than using the single difference, which can improve accuracy of the attitude estimate. This algorithm is robust with respect to initial condition errors. It can converge to true attitude rapidly even if the numbers of baseline and sightline are few. The simulation shows that the attitude estimate based on this algorithm is almost similar to the attitude estimation based on the nonlinear least square algorithm, and robust to initial condition errors. When three baselines are used, during the maneuver of the vehicle, the baselines that are nearly orthogonal can estimate the attitude better than other frames of baselines.