基于单天线GPS载波幅度的旋转载体滚转角测量

Single Antenna GPS Carrier Amplitude Based Rolling Angle Determination of Spinning Vehicle

传统的载体滚转角和转速测量方法成本高昂且仅限于高价值平台,为降低成本利用GPS信号测量滚转角的方法日益受到关注。将GPS载波信号的相位和幅度信息用于姿态测量,是目前旋转平台基于GPS测姿的两类主要方法。为了实现旋转载体的低成本高精度滚转角和转速测量,本文提出了单天线结构的利用GPS卫星接收机硬件相关器直接输出的导航用载波I/Q信号幅度特性,设计基于EKF的滚转角滤波器,利用载波I/Q信号的幅度特性对载波频率进行估计与跟踪,从而实现旋转载体的滚转角和转速的精确计算。实测数据试验表明,对于旋转载体仅利用卫星载波I/Q信号的幅度信息,本文提出的算法即可实时计算出旋转载体的滚转角和转速,且计算精度能够满足大多数的实际工程应用。

Traditional rolling angle and rolling rate measurement are costly and merely applied by high value plat-forms. In order to reduce cost, rolling angle determination method based on GPS signal is put forward. Rolling an-gle measurement by using GPS carrier phase and amplitude are the two main techniques used for attitude determina-tion. An approach to achieve high precision measurement of rolling angle and rolling rate of spinning vehicle with low cost is presented, that is, directly obtain I/Q signal amplitude signature of carrier for navigation by using single antenna GPS satellite receiver hardware correlator, and a rolling angle filter based on extended Kalman filtering （ EKF） is designed to estimate and track carrier frequency by using amplitude signature of carrier I/Q signals, so as to calculate rolling angle and rolling rate of spinning vehicle precisely. Actual test results show that, for using only amplitude information of I/Q signals, rolling rate and rolling angle of spinning vehicle can be calculated in real-time by using proposed method, and calculation accuracy can meet requirements of most practical applications.