Multi-Antenna Yaw Calculation in Space-Constrained Movable Bodies
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Solution Overview
Problem
Conventional attitude calculating apparatuses for movable bodies require a large arrangement area to achieve high calculation accuracy of attitude angles, which is not feasible in cases where space is limited, resulting in compromised accuracy.
Innovation Solution
A compact status calculating apparatus that calculates the representative yaw angle using multiple baseline vectors, allowing for accurate determination of attitude angles, including pitch, roll, and yaw, while reducing the antenna arrangement area and enabling faster calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two antennas with longest baseline lengths are selected to calculate attitude angle, then calculation accuracy of attitude angle is improved, but arrangement area for the attitude calculating apparatus becomes large
Solution Approach 1:
The patent segments the attitude calculation process into multiple independent calculation paths, each using a different pair of baseline vectors. Instead of relying on a single long baseline, the system divides the antenna array into multiple pairs (e.g., antennas 110A-110D forming multiple baselines) and calculates attitude angles independently for each pair, then combines results. This allows using shorter baselines while maintaining accuracy through multiple measurements.
Solution Approach 2:
The patent merges multiple attitude angle calculations from different antenna pairs into a single comprehensive attitude determination. By combining results from multiple baseline vector pairs (e.g., merging calculations from baselines AB, AC, AD, BC, BD, CD), the system achieves high accuracy without requiring any single baseline to be extremely long, thus reducing the overall arrangement area.
2Measurement precision
If multiple baseline vectors are used to calculate representative yaw angle, then calculation accuracy is improved, but calculation complexity increases
Solution Approach 1:
The patent segments the complex multi-baseline calculation into systematic steps: first calculating individual baseline vectors between antenna pairs, then computing attitude angles for each baseline, and finally merging results. This segmented approach makes the complex calculation manageable and implementable through standard processing units without requiring specialized complex calculation hardware.
Data Source
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AI summary
A status calculating apparatus (10) is provided. The apparatus (10) includes three or more antennas (100A, 100B, 100C, 100D) disposed at different positions on a movable body (900), each antenna (100A, 100B, 100C, 100D) receiving positioning signals, correlators (111A, 111B, 111C, 111D) for calculating carrier wave phase differences for every antenna based on correlation of the positioning signals with a replica signal, carrier wave phase measurement value calculating modules (112A, 112B, 112C, 112D) for calculating carrier wave phase measurement values (ADRA, ADRB, ADRC, ADRD), a baseline vector calculating module (120) for calculating baseline vectors (AB, BC, CD, DA, BD, CA) based on the carrier wave phase measurement values (ADRA, ADRB, ADRC, ADRD), and an attitude angle calculating module (121) for calculating a yaw angle for every baseline vector (AB, BC, CD, DA, BD, CA) and calculating a representative yaw angle based on the plurality of calculated yaw angles.