基于四元数方法的GPS航姿解算  

GPS based Attitude Determination Based on Quaternion Algorithm

作　　者：段志勇[1] 袁信[1] 

机构地区：[1]南京航空航天大学自动控制系,南京210016

出　　处：《南京航空航天大学学报》1999年第5期492-496,共5页Journal of Nanjing University of Aeronautics & Astronautics

摘　　要：应用ＧＰＳ载波相位双差测量来确定载体的航向和姿态需要解决两个主要问题：模糊度的确定和航姿算法。本文提出了ＧＰＳ航姿解算的四元数方法，直接利用ＧＰＳ载波相位双差测量值解算姿态四元数，从而保证了姿态矩阵的正交性质。同时还对航姿误差进行了分析，并在误差分析的基础上给出了基线的最优配置。通过仿真对双基线ＧＰＳ航姿系统进行了研究，比较了不同基线配置下的航姿角解算误差。Attitude determination using GPS carrier phase is successfully applied in aircraft measurement. The GPS attitude determination can be broken into integer ambiguity resolution and operational attitude calculations. This paper presents quaternion algorithm to determine heading and attitude using GPS carrier phase double difference measurements, assuming that the integer ambiguities are known. Unlike the other methods which must calculate the baseline vectors at first, the presented algorithm determines the heading and attitude quaternion directly. And the algorithm can handle not only one baseline to determine two angles of the heading and attitude, but also any multi baselines to calculate the heading and attitude. The optimal configuration of baselines is put forward on the error analysis of the heading and attitude. The simulation results of dual baselines GPS based attitude system show the relationship between the heading and attitude error and baseline configuration.

关 键 词：相位计量 仿真 全球定位系统 姿态解算 四元数 

分 类 号：P228[天文地球—大地测量学与测量工程] V249[天文地球—测绘科学与技术]