非线性滤波及其在GPS航姿系统中的应用  

Nonlinear Filter and Its Application to GPS Heading & Attitude System

作　　者：范胜林[1] 段志勇[1] 袁信[1] 胡国辉[1] 

机构地区：[1]南京航空航天大学自动控制系,南京210016

出　　处：《数据采集与处理》2000年第3期277-278,共2页Journal of Data Acquisition and Processing

摘　　要：GPS航姿系统中如何快速、可靠地解算出航向姿态 ,依赖于载波相位模糊度的确定。对于测量噪声较大的接收机或模糊度只有浮点解的情况来说 ,Kalman滤波技术是确定模糊度的有效方法之一 ,但其滤波需要较长的时间。为了加快滤波的收敛速度 ,缩短 GPS航姿系统的初始化过程 ,文中提出了基于基线长度约束的非线性 Kalman滤波方法 ,并通过实验研究结果证明 ,该文方法是确实可行的。Attitude determination using GPS carrier phase is succ essfully applied to aircraft in experiments by a number of researchers. The problem of GPS attitude determination can be broken into two parts: the integer ambiguity resolution and the operational attitude calculations. Until the carri er phase ambiguity is resolved,GPS with more than one antenna can give he a ding and attitude information. For the receiver with high noise or the case with out integer ambiguity,Kalman filter is one of the efficient methods to solve am biguity. Because of the poor observability of ambiguity and baselines,the filte ring needs more time. In this paper,a nonlinear filter method based on the cons traint factor of baseline length is presented to accelerate the convergence of f iltering. The experimental result on three Jupiter OEM boards proves that the method is valid.

关 键 词：卡尔曼滤波 飞机 航向 航姿系统 非线性滤波 GPS 

分 类 号：V249.122.2[航空宇航科学与技术—飞行器设计] V249.3