CAJ | 학술논문

传统的载体滚转角和转速测量方法成本高昂且仅限于高价值平台，为降低成本利用GPS信号测量滚转角的方法日益受到关注。将GPS载波信号的相位和幅度信息用于姿态测量，是目前旋转平台基于GPS测姿的两类主要方法。为了实现旋转载体的低成本高精度滚转角和转速测量，本文提出了单天线结构的利用GPS卫星接收机硬件相关器直接输出的导航用载波I/Q信号幅度特性，设计基于EKF的滚转角滤波器，利用载波I/Q信号的幅度特性对载波频率进行估计与跟踪，从而实现旋转载体的滚转角和转速的精确计算。实测数据试验表明，对于旋转载体仅利用卫星载波I/Q信号的幅度信息，本文提出的算法即可实时计算出旋转载体的滚转角和转速，且计算精度能够满足大多数的实际工程应用。
전통적재체곤전각화전속측량방법성본고앙차부한우고개치평태，위강저성본이용GPS신호측량곤전각적방법일익수도관주。장GPS재파신호적상위화폭도신식용우자태측량，시목전선전평태기우GPS측자적량류주요방법。위료실현선전재체적저성본고정도곤전각화전속측량，본문제출료단천선결구적이용GPS위성접수궤경건상관기직접수출적도항용재파I/Q신호폭도특성，설계기우EKF적곤전각려파기，이용재파I/Q신호적폭도특성대재파빈솔진행고계여근종，종이실현선전재체적곤전각화전속적정학계산。실측수거시험표명，대우선전재체부이용위성재파I/Q신호적폭도신식，본문제출적산법즉가실시계산출선전재체적곤전각화전속，차계산정도능구만족대다수적실제공정응용。
Traditional rolling angle and rolling rate measurement are costly and merely applied by high value plat-forms. In order to reduce cost, rolling angle determination method based on GPS signal is put forward. Rolling an-gle measurement by using GPS carrier phase and amplitude are the two main techniques used for attitude determina-tion. An approach to achieve high precision measurement of rolling angle and rolling rate of spinning vehicle with low cost is presented, that is, directly obtain I/Q signal amplitude signature of carrier for navigation by using single antenna GPS satellite receiver hardware correlator, and a rolling angle filter based on extended Kalman filtering ( EKF) is designed to estimate and track carrier frequency by using amplitude signature of carrier I/Q signals, so as to calculate rolling angle and rolling rate of spinning vehicle precisely. Actual test results show that, for using only amplitude information of I/Q signals, rolling rate and rolling angle of spinning vehicle can be calculated in real-time by using proposed method, and calculation accuracy can meet requirements of most practical applications.