Attitude angle measurement initialization method and device, attitude angle measurement method and device
A technology for measuring initialization and attitude angle, which is applied in the direction of measuring devices, radio wave measurement systems, instruments, etc., can solve the problems of initialization error, lower attitude angle accuracy, and unstable attitude angle calculated by GNSS, and achieve high accuracy Effect
Active Publication Date: 2018-12-11
HARXON CORP
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Problems solved by technology
When using GNSS (Global Navigation Satellite System, Global Navigation Satellite System) to measure the attitude angle, because the GNSS signal power is low, and it is easy to be affected by multipath signals or other forms of interference, resulting in instability when GNSS calculates the attitude angle. This will lead to initialization errors, reduce the reliability of initialization, and then reduce the accuracy of the calculated attitude angle
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[0020] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0021] figure 1 It is a flow chart of the attitude angle measuring method in an embodiment. The attitude angle measurement method can be applied to a carrier to measure the attitude angle of the carrier. The carrier can be a static carrier or a dynamic carrier. For example, the carrier can be a satellite, a spacecraft, a manned aircraft, an unmanned aerial vehicle, and the like. The measured attitude angle can be heading angle, pitch angle or roll angle. In this embodiment, the attitude angle is taken as the heading angle as an example for illustration. The attitude angle measurement method co...
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An attitude angle measurement initialization method comprises steps of counting the times, the fixed solution times and the floating solution times of attitude angles falling into each angle range during the statistical duration; determining whether a ratio of the fixed solution times to the floating solution times in an angle range of the maximum attitude appearance probability exceeds a first threshold or not; determining whether a ratio of the attitude angle times in the angle range of the maximum attitude appearance probability to the attitude angle times in the statistical duration exceeds a second threshold or not; determining whether a ratio of the attitude angle times in the angle range of the maximum attitude appearance probability to the attitude angle times in an angle range of the second largest attitude appearance probability exceeds a third threshold or not; and calculating the mean of the attitude angles in the angle range of the maximum attitude appearance probability and outputting the mean as an initial value if judgment results of the abovementioned steps are yes. The method improves the initialization reliability. The invention also relates to an attitude angle measurement initialization apparatus, an attitude angle measurement method and an attitude angle measurement device.
Description
technical field [0001] The present invention relates to the technical field of attitude measurement of a carrier, in particular to an attitude angle measurement initialization method and device, and also relates to an attitude angle measurement method and device. Background technique [0002] Attitude measurement is generally applied to dynamic or static carriers such as satellites, spacecraft, manned aircraft, and unmanned aerial vehicles. In the attitude measurement process, the attitude angle of the carrier is mainly measured. Attitude angle includes heading angle, pitch angle and roll angle. When the device outputs the attitude angle for the first time, it needs to be initialized. When using GNSS (Global Navigation Satellite System, Global Navigation Satellite System) to measure the attitude angle, because the GNSS signal power is low, and it is easy to be affected by multipath signals or other forms of interference, resulting in instability when GNSS calculates the at...
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IPC IPC(8): G01S19/37
CPCG01S19/37
Inventor 李振亚王春华
Owner HARXON CORP