GNSS Attitude Measuring Device with Dynamic Mode Selection
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Solution Overview
Problem
Conventional attitude measuring devices using multiple antennas for GNSS signal reception cannot accurately measure attitude if not all antennas receive positioning signals.
Innovation Solution
The device includes a plurality of antennas, receiving modules, a position calculating module, a reception state estimating module, a mode selecting module, and an attitude calculating module. It selects between two attitude calculation modes based on the reception state of each antenna set, allowing for precise attitude calculation even if some antennas do not receive positioning signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple antennas are used for receiving positioning signals, then the reliability of attitude measurement is improved, but the measurement precision deteriorates when not all antennas receive positioning signals
Solution Approach 1:
The system dynamically switches between different attitude calculation modes (first mode using four or more positioning data, second mode using three or less positioning data) based on the reception states of antennas. This dynamic adaptation allows the system to maintain measurement precision regardless of whether all antennas are receiving signals, resolving the contradiction between reliability and precision.
Solution Approach 2:
The system changes the calculation parameters (number and selection of positioning data) based on the reception state of antennas. When reception quality varies, the system adjusts which positioning data to use and how many to use, thereby maintaining precision while accommodating variable reliability conditions.
2Measurement precision
If all antennas must receive positioning signals for accurate attitude measurement, then the measurement precision is maintained, but the adaptability to signal loss conditions deteriorates
Solution Approach 1:
The system dynamically adapts its behavior based on signal reception conditions by switching between calculation modes. This enables the system to maintain precision whether all antennas receive signals or only some do, significantly improving adaptability to signal loss while preserving measurement accuracy.
Solution Approach 2:
The system allows partial use of available positioning data (three or less) when not all antennas receive signals, rather than requiring complete data from all antennas. This partial action approach maintains sufficient precision for attitude measurement while adapting to incomplete signal conditions.
Data Source
AI summary
The present disclosure measures an attitude even when an antenna cannot receive a positioning signal a receiver cannot acquire positioning information from the signal. An attitude measuring device includes: antennas, receivers, and processing circuitry. The antennas receive positioning signals and output reception signals, respectively. There are four or more antennas. The receivers are provided for the respective antennas and output positioning data containing a carrier phase based on the reception signals. The processing circuitry calculates the position of each antenna using the relevant positioning data, estimates a reception state of the positioning data based on the calculated position, and selects between a first attitude calculation mode using four or more positioning data with a good reception state and a second attitude calculation mode using three or less positioning data with the good reception state. The processing circuitry calculates an attitude using the selected attitude calculation mode.