Attitude Angle Calculation Using Weighted GPS Data
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Solution Overview
Problem
Current attitude calculating devices using GPS signals struggle to achieve high precision in calculating attitude angles due to limitations in spatial relationships between GPS antennas.
Innovation Solution
An attitude angle calculating device with multiple antennas, receiving parts, and a calculating condition determining part that sets weights for data based on spatial relationships and accuracy degradation indices to enhance precision, allowing for accurate calculation of attitude angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS signals are received by multiple antennas with different base line lengths, then positioning capability is improved, but calculation precision of attitude angle is not sufficiently improved
Solution Approach 1:
The patent changes the parameter of base line length configuration from arbitrary/different lengths to specifically designed equal lengths. This parameter change optimizes the geometric relationship between antennas and satellites, improving attitude angle calculation precision while maintaining manageable device complexity
Solution Approach 2:
The patent applies asymmetry by configuring base lines to be perpendicular to each other, creating an orthogonal geometric structure. This asymmetric perpendicular arrangement optimizes the spatial relationship for calculating different attitude angle components (roll, pitch, yaw) independently and accurately
2Measurement precision
If all received GPS data are used for calculation, then data quantity is maximized, but calculation accuracy is degraded due to unequal contribution of different data
Solution Approach 1:
The patent applies local quality by assigning different weights to different GPS data based on their individual contribution to each attitude angle component. Instead of uniform treatment, each data point receives localized quality adjustment through weight assignment, optimizing the overall calculation accuracy
Solution Approach 2:
The patent uses partial action by selectively weighting or excluding certain GPS data points from the calculation based on their contribution quality. Not all data are used equally - only the most contributive data are fully utilized, improving precision without unnecessary processing overhead
Data Source
AI summary
An attitude angle may be calculated with high precision. In a traveling state calculating device, receiving parts may output data for calculation using positioning signals received by antennas, respectively. A phase difference calculating part may calculate a single phase difference for every base line based on the data for calculation outputted by the receivers. An attitude angle calculating part may calculate an attitude angle using the data for calculation and the single phase difference. A calculating condition determining part may determine a contribution of the data for calculation to the calculation of the attitude angle, corresponding to the component of the attitude angle, based on a spatial relationship between the base line and the positioning satellite.