基于卡尔曼滤波算法的GPS旋转体姿态测量

Rotator attitude measurement using GPS based on Kalman filter algorithm

研究了用单天线全球定位系统（GPS）接收机的载波信号正弦相位调制波实时测量旋转体姿态的基本原理和方法，设计了一种实现旋转体姿态测量的卡尔曼滤波算法。为了克服多天线姿态测量存在的天线相位延迟、噪声相互独立等不利因素，将单天线置于相位中心偏离旋转轴心位置。分析了旋转体姿态与GPS接收机载波信号之间的关系，给出载波信号的数学模型，在GPS接收机跟踪环路建立了包含姿态信息的载波信号卡尔曼滤波模型，对环路的跟踪性能与姿态算法进行MATLAB仿真。结果表明，此算法的跟踪环路带宽窄，能有效抑制噪声干扰，较好地实现了对旋转信号的跟踪，并且姿态测量精度比较高。

The basic principles and methods for real time measurement of the attitude of a rotator using the sinusoidal phase modulation wave of the carrier signal of a single-antenna GPS＇ receiver were investigated, and a Kalman filter algorithm was designed to achieve rotator attitude measurement. In order to the overcome the shortcomings inher- ent in multiple-antennae measurement such as antenna phase delay and independence between noises, a single an- tenna was placed at the phase center deviating from the rotating axis. The relationship between the rotational atti- tude and the GPS carrier signal was analyzed, and the mathematical model for cartier signals was given. In the GPS receiver tracking loop, a Kalman filter model that contains posture information was established. Using the proposed posture algorithm, the MATLAB simulation on the performance of the tracking loop was conducted. The results in- dicate that the posture algorithm can yield a narrow tracking loop bandwidth, enhance the effectiveness in suppressing noises and tracking rotation signals, and improve the precision of attitude measurement.