基于RAEKF和DGPS的航母姿态测量方法研究

针对现有基于差分GPS(differential global position system，DGPS)的定姿算法无法解决GPS信号受干扰时无解的问题，且容易受GPS数据中粗大误差的影响，提出一种基于自适应抗差卡尔曼滤波(robust adaptive extended Calman filter，RAEKF)和DGPS的航母姿态测量方法。研究载波相位差分GPS的测姿原理，详细分析现有定姿算法的原理并分别指出他们存在的缺陷，提出不受GPS数据缺失和粗大误差影响的RAEKF算法。结果表明，该算法能充分利用航母的运动信息，提高GPS定姿的精度和可靠性。

Study of carrier attitude measurement method based on RAEKF and DGPS

The existing attitude determination algorithm cannot solve the problem that the algorithm got no solution when GPS signal was disturbed. The algorithm would be influenced by the gross error in GPS data. According to the problems mentioned above, this paper put forward a kind of carrier attitude measurement method based on RAEKF and DGPS. First introduced the principle of carrier phase differential GPS attitude measurement, then analyzed the three kinds of attitude determination algorithms existing and pointed out their weaknesses. Finally, we put forward a robust adaptive Calman filter algorithm which is not affected by missing and gross error of GPS data. As the experiments show, the algorithm can improve the accuracy and reliability of the GPS by using the motion data of carrier.