Attitude angle direct resolving method based on global position system (GPS) carrier wave double-difference equation

Abstract

The invention provides an attitude angle direct resolving method based on a global position system (GPS) carrier wave double-difference equation. The attitude angle direct resolving method mainly comprises building a carrier wave double-difference equation, guiding carrier attitude information into the carrier wave double-difference equation and solving an attitude angle by utilizing nonlinear least squares. The attitude angle direct resolving method can effectively reduce or eliminate short base line public errors, achieves high-precision resolving, can directly resolve the attitude angle by leading the attitude angle information into the double-difference equation, greatly reduces intermediate evaluated errors, evaluates the attitude angle by utilizing the nonlinear least squares method, improves system resolving speed, finishes real-time resolving of the attitude information and is more suitable for real-time carrier attitude measuring.

Description

technical field [0001] The invention relates to a real-time attitude measurement method of a large carrier, in particular to a method for directly solving the attitude angle based on the GPS carrier double-difference equation. Background technique [0002] In order to meet the attitude information requirements of different application platforms, a large number of attitude measurement devices have come out, such as star sensors, horizon trackers, sun sensors, and magnetometers for space carrier attitude measurement; Or the magnetic compass and electromagnetic compass that provide heading for underwater vehicles; the inertial devices that provide attitude information for various aircraft, land transportation equipment, ships, submersibles, and space carriers, etc. Among them, the star sensor is easily affected by the weather, terrain or other objective factors, and cannot give the attitude or orientation value in real time; the inertial navigation equipment is complex in struc...

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Problems solved by technology

[0013] 1. When using the mathematical estimation method to estimate the attitude matrix, the attitude angle result is not directly obtained, and multi-epoch information collection is required to complete the final attitude angle calculation. This introduces further estimation errors on the one hand, and on the other hand It also affects the real-time performance of attitude measurement

[0014] 2. Using the direct measurement method to measure the attitude angle does not require the coordinates of the baseline carrier system, nor does it need to calculate the attitude matrix, but the z-axis component of the carrier coordinates of all antenna baselines is zero, and the matrix formed by the coordinates is not of rank, which will lead to attitude results Unreliable, far less accurate than mathematical estimation methods

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