一种基于自适应滤波的GPS滚转角估计方法

A roll angle estimation method using GPS based on adaptive filter

全球定位系统(GPS)测姿技术主要是利用GPS载波相位和信号功率2种方法,但是测量信息单一且独立,针对旋转载体的测姿问题,提出一种基于自适应滤波的GPS滚转角估计方法,通过融合GPS接收机天线信号功率和多普勒频率信息测量载体滚转角和滚转角速度。利用当前统计模型对滚转角和滚转角速度测量进行系统建模,根据滚转角预测估计值选取量测量,并提出自适应滤波,采用滚转角加速度估计自适应滤波算法,实现了对系统噪声方差阵的自适应调整,避免了滚转角加速度最值的选取问题,降低了噪声的影响。通过仿真验证了基于自适应滤波的GPS滚转角估计方法的可行性,结果表明该方法的测量精度高于无迹卡尔曼滤波(UKF)。

The two main techniques for Global Positioning System(GPS) attitude measurement are to use GPS carrier phase and signal power, but the measurement information is single and independent. Aimed at the problem of attitude measurement of a spinning vehicle, a roll angle estimation method using GPS based on adaptive filter is proposed, which measures the roll angle and roll angular velocity by combining signal power and Doppler frequency information of GPS receiver antenna. The system model of the roll angle and roll angular velocity measurement is established by using the current statistical model, the measurements are selected according to the predicted estimation value of the roll angle, and an adaptive filter is proposed. The adaptive filter algorithm of roll angular acceleration estimation is used to realize the adaptive adjustment of the variance matrix of the system noise, which avoids the selection of the roll angle acceleration maximum value and reduces the effect of noise. The feasibility of the roll angle estimation method using GPS based on adaptive filter is verified by simulation, and the results show that the measurement accuracy of the method is higher than that of Unscented Kalman Filter(UKF).