单天线GPS/加速度计组合测姿方法研究

为了提高微小型飞行器和导弹等横向尺寸不足以安装多天线GPS的飞行载体的姿态测量精度,研究了利用单天线GPS和加速度计组合进行姿态测量的方法.引入了伪姿态的概念,提出了由伪姿态测量辅助求取载体姿态的具体算法,阐述了单天线GPS和加速度计组合测姿的基本原理.建立了单天线GPS姿态测量的数学模型,给出了其姿态的求解过程,阐明了其物理意义.对单天线GPS测姿系统进行了半实物仿真试验.仿真结果表明:该测姿系统可以实时提供高精度的姿态信息,为单天线GPS/SINS组合导航系统在微小飞行器上的应用奠定了基础.

Study of single-antenna GPS/accelerometer integrated attitude determination method

In order to improve the attitude determination accuracy of the micro aerial vehicles and the missiles,in which transverse size is not enough for fixing multiple antennae,a single-antenna GPS aiding attitude determination method was proposed.The pseudo attitude concept was introduced,and the attitude determination method aided by the pseudo attitude was presented.The principle of attitude determination with single-antenna GPS and accelerometers was introduced.The mathematic model for the system that defined the attitude of body was established.The solution procedure of attitude determination was presented and the physical meanings were introduced.Then the semi-physical simulation of single-antenna GPS attitude determination system was carried out.The simulation results based on measured data show that the attitude determination system can provide real-time and accurate attitude information.It provids the basis for the application of single-antenna GPS/SINS navigation system in micro aerial vehicle.