利用GPS进行姿态估计的一种算法

首先建立了全球定位系统（ＧＰＳ）姿态确定的观测方程；然后给出了利用ＧＰＳ进行飞行器姿态估计的模型，并对该模型进行了线性处理；最后利用攻推广卡尔曼滤波技术，针对某飞行器进行了仿真计算。计算结果表明，对于不同的测量噪声和系统噪声，滤波器都有较好的估计，姿态估计的精度明显高于单纯ＧＰＳ姿态确定的精度，可以满足大多数飞行器对姿态确定的要求，证实了模型和算法可用性。

An Algorithm for Attitude Estimation by Using GPS

Firstly, the measurement equation of GPS(Global Positioning System) attitude determination is established. Then, the model of flight vehicle attitude estimation by using GPS is presented and the linearization of this model is carried out. Finally, simulation calculations are performed by using above mentioned model and the EKF(Extended Kalman Filtering). The simulation results show that the Kalman filter can preferably estimate the attitude of the flight vehicle under different measurement noises and process noises. That the precision of the attitude estimation is better than that of the single point GPS attitude determination indicates the attitude estimation system by using GPS and EKF can meet the requirements of attitude determination of the most flight vehicle. And this proves the present model and algorithm is usable.