加速度计辅助的双天线姿态快速测量方法

加速度计辅助的双天线姿态快速测量方法

内容简介：针对单频GPS双天线测姿存在较长时间初始化过程的问题，结合低成本惯性导航系统（INS）特点，研究了加速度计信息辅助的姿态快速测量新方法：即利用加速度计提供的俯仰角信息和已知基线长度进行约束，通过搜索载体姿态角，在二次残差最小的条件下确定整周模糊度。建立了搜索模型，论述了搜索原理，推导了搜索步长。实验表明，最小二乘降相关平差算法(LAMBDA)需要60 s以上的初始化时间，而新算法在30 s内即可得到0.2°的俯仰角和航向角误差，且算法简单可靠，搜索效率高。

Abstract：In view that the single frequency GPS attitude determination system with two antennas need long time to initialize and considering the characteristics of low-cost inertia navigation system(INS), a new method assisted by accelerometer information was proposed:integer ambiguity was fixed in the condition of least square error by searching the attitude, and the attitude was confined by baseline length and accelerometer which can afford elevation information. The model was established, the search principle of the new algorithm was discussed, and then the search step was induced. The experiments indicate that LAMBDA algorithm need more than 60 s for initialization, but the new method only need 30 s. The errors of pitch and yaw are both no more than 0.2° by using this method. This algorithm is proved credible, simple and high efficiency.

作者：庞春雷, 赵修斌, 余永林, 宋立梅, 王祝欣,

关键词：GPS, 加速度计, 整周模糊度, 双天线, 快速姿态测量,