一种利用GPS进行姿态估计的新算法

A New Algorithm for Attitude Estimation Using GPS

提出了一种基于向量化姿态矩阵的姿态解算方法,该方法顾及了观测量之间的相关性及姿态矩阵的正交性。首先将姿态矩阵作为未知参数的估计问题进行向量化,采用经典最小二乘得到无正交约束的姿态解,然后使用几何规则对姿态矩阵进行正交化。该方法不需要初值,不受天线个数及布局限制,在理论上具有广泛的适用性及更好的严密性。仿真结果表明,新的姿态解算方法可以提高GPS姿态解算精度。

A new attitude calculation algorithm was presented based on vectorizing attitude matrix, it considered the correlation between the observations and the attitude matrix orthogonality. Firstly, it vectorized the attitude matrix which is the unknown parameter of the estimation problem, then a unconstraint attitude matrix was estimated by Least Square, at last the geometry algorithm was used to make the unconstraint attitude solution orthogonal. The new approach does not need any initial attitude knowledge, and is suitable for any baseline configurations, so it has wide suitability and better rigor. The results of simulation experiments demonstrated that this new approach could improve the attitude calculation precision.