论文部分内容阅读
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。
How to calculate the heading attitude quickly and reliably in GPS navigation attitude system depends on the determination of carrier phase ambiguity. Kalman filtering is one of the most effective methods to determine the ambiguity in the case of receivers with large noise or ambiguities with only floating-point solutions. However, the filtering takes a long time. In order to speed up the convergence of the filter and shorten the initialization process of the GPS navigation system, a nonlinear Kalman filter based on the length constraint of the baseline is proposed in this paper. The experimental results show that this method is feasible.