一种基于乘性误差四元数的多天线瞬时测姿算法  

A Multi-antenna Instant Attitude Detection Algorithm Based on Multiplicative Error Quaternion

作　　者：戴卿[1] DAI Qing(Department of Architectural Engineering,Chongqing Water Resources and Electric Engineering College,Chongqing 402100 ,China)

机构地区：[1]重庆水利电力职业技术学院建筑工程系,重庆402100

出　　处：《西安航空学院学报》2017年第3期8-11,24,共5页Journal of Xi’an Aeronautical Institute

基　　金：重庆市教委项目(163253;KJ1735452)

摘　　要：为进一步拓展全球导航卫星系统(Global Navigation Satellite System,GNSS)测姿应用领域,提升多天线瞬时测姿性能,解决GNSS载波相位观测定姿中的模糊度搜索耗时和周跳探测复杂等问题,提出了一种基于乘性误差四元数的多天线姿态解算方法。使用滤波技术将姿态约束信息通过状态模型和当前观测模型融合,对模糊度进行降权处理,免去周跳探测步骤,从而实现瞬时姿态解算。仿真实验结果表明,新算法既保证了解算效果,又增加了数据处理的灵活性,且耗时更符合实时性需求。In order to further develop GNSS（Global Navigation Satellite System）determination application, improve multi-antenna instantaneous attitude measurement performance, and solve the problem of time consuming in ambiguity searching and complexity of cyclic clips detection using GNSS carrier phase observation to detect attitude, a novel attitude detection algorithm based on multiplicative error quaternion is proposed in this paper. The attitude constraint information is fused by the state model and the observation model using the Kalman filter. And the ambiguity is reduced to avoid cyclic clips detection, and to achieve instantaneous attitude calculation. Through data experiment analysis, result shows that the new algorithm can improve the flexibility of data processing, meet real-time demand,and guarantee the solution effect.

关 键 词：GNSS 多天线测姿 误差四元数 卡尔曼滤波 整周模糊度 

分 类 号：P228.4[天文地球—大地测量学与测量工程]