基于多导航系统的姿态测量及精度评估

Attitude Measurement and Accuracy Evaluation Based on Multi-navigation System

基于卫星导航系统的姿态测量可作为一个新型姿态测量系统,代替传统昂贵的姿态测量设备,具有极大的应用潜力。本文首先介绍了利用卫星进行姿态测量的基本原理,在此基础上采用上海司南卫星导航技术股份有限公司的一块K728 GNSS OEM开发板和一块PCB板,设计了一个基于双天线的姿态测量系统,进行载体姿态测量的实验,并实现了PC机直接获取K728板卡实时解算的数据。最后,利用Matlab对测得的数据进行处理,评估了该开发板在测姿应用中的精度。实验结果表明,在系统正常工作的情况下,解算出的方位角精度高于0.2°/R(R为双天线基线长),俯仰角的精度高于0.4°/R。初步实验表明,该姿态测量系统可以应用在车辆自主驾驶控制以及飞行器、轮船的常规姿态测量。

As a new attitude measurement system,attitude measurement based on satellite navigation system has great application potential of replacing traditional expensive attitude measurement equipment.This article first introduces the basic principle of attitude measurement by using satellites.Based on this,a K728 GNSS OEM development board and a PCB board from Shanghai Sinan Satellite Navigation Technology Co.,Ltd.are used to design an attitude measurement system based on dual antennas.The experiment of carrier attitude measurement is conducted,which realizes the direct PC real-time data acquisition from K728 board.Finally,Matlab was used to process the measured data and evaluate the accuracy of the development board in two-dimensional attitude measurement applications.The experimental results show that the accuracy of the calculated azimuth angle is higher than 0.2°/R(R is the baseline length of the dual antennas),and the accuracy of the elevation angle is higher than 0.4°/R,when the system works normally.Preliminary experiments show that the attitude measurement system can be applied on vehicle autonomous driving control and two-dimensional conventional attitude measurement of aircrafts and ships.