CAJ | 학술논문

针对最小二乘多天线姿态解算中某些历元的法方程存在严重病态性，导致姿态估计结果异常（尤其是俯仰角和横滚角）的问题，本文采用了常用的岭估计方法克服其病态性。首先根据法方程系数阵的条件数判断该历元的法方程是否存在病态性，如果条件数小于1000，采用最小二乘法估计姿态参数，否则，利用 L 曲线法确定岭参数，并利用岭估计解算姿态参数。最后，以高精度惯性导航系统（陀螺漂移0．005°／h）输出的姿态结果作为基准，得出岭估计方法解算的姿态角的外符合精度为：方位角0．1°，俯仰角0．16°，翻滚角0．39°。这一精度与基线解算正确情况下的理论姿态精度相当，这说明岭估计方法比较好的克服了法方程的病态性。
침대최소이승다천선자태해산중모사역원적법방정존재엄중병태성，도치자태고계결과이상（우기시부앙각화횡곤각）적문제，본문채용료상용적령고계방법극복기병태성。수선근거법방정계수진적조건수판단해역원적법방정시부존재병태성，여과조건수소우1000，채용최소이승법고계자태삼수，부칙，이용 L 곡선법학정령삼수，병이용령고계해산자태삼수。최후，이고정도관성도항계통（타라표이0．005°／h）수출적자태결과작위기준，득출령고계방법해산적자태각적외부합정도위：방위각0．1°，부앙각0．16°，번곤각0．39°。저일정도여기선해산정학정황하적이론자태정도상당，저설명령고계방법비교호적극복료법방정적병태성。
The normal matrix of the Least Squares(LS)is ill-posed in some epochs for GNSS multi-antenna attitude estima-tion,which lead to the abnormal attitude estimates,especially the pitch angle and the roll angle.In this paper,the common Ridge Estimation (RE)is used to overcome the ill-posed problems.Firstly,if the normal matrix of the epoch is ill-posed is judged according to the condition number of the normal equation coefficient matrix.If the condition number is less than 1 000, the attitude parameters are estimated using the LS,otherwise,the ridge parameter is determined using the L curve method and the attitude parameters are estimated using the RE.At last,the attitude of the high precision INS(Gyro drift is 0.005 degree in per hour)is taken as the reference,the attitude precision of RE is as follows:the yaw is 0.1 degree,the pitch is 0.16 degree and the roll is 0.39 degree.The attitude precision of the RE method is equivalent to the theoretical precision derived from the accurate baseline,so the ill-posed problem is effectively improved.