CAJ | 학술논문

由载波相位观测值直接解算姿态能实现观测及姿态约束信息的最优利用。本文推导了基于失准角及乘性误差四元数的载波相位观测模型,分别建立了有外部角速度传感器和无外部传感器辅助下姿态参数估计的状态模型；利用自适应抗差滤波估计姿态误差,借鉴分类自适应因子的思想,分别确定模糊度和姿态误差参数的自适应因子,其中姿态自适应因子由 Ratio 值构造的三段函数确定。自适应抗差滤波能够充分利用约束信息和历史信息,将其融合在浮点解计算过程中,极大提高模糊度浮点解精度及其协方差的结构,在此基础上使用整数最小二乘模糊度降相关平差法(least-squares ambiguity decorrelation adjustment,LAMBDA)方法即能快速搜索出固定解,满足实时性需求。采用实测舰载GNSS 3天线测姿算例对方法进行了验证,结果表明,基于自适应抗差滤波的观测值直接定姿方法效率高、可靠性好。
유재파상위관측치직접해산자태능실현관측급자태약속신식적최우이용。본문추도료기우실준각급승성오차사원수적재파상위관측모형,분별건립료유외부각속도전감기화무외부전감기보조하자태삼수고계적상태모형；이용자괄응항차려파고계자태오차,차감분류자괄응인자적사상,분별학정모호도화자태오차삼수적자괄응인자,기중자태자괄응인자유 Ratio 치구조적삼단함수학정。자괄응항차려파능구충분이용약속신식화역사신식,장기융합재부점해계산과정중,겁대제고모호도부점해정도급기협방차적결구,재차기출상사용정수최소이승모호도강상관평차법(least-squares ambiguity decorrelation adjustment,LAMBDA)방법즉능쾌속수색출고정해,만족실시성수구。채용실측함재GNSS 3천선측자산례대방법진행료험증,결과표명,기우자괄응항차려파적관측치직접정자방법효솔고、가고성호。
Attitude determination directly by carrier phase observation makes optimal use of observation and attitude constraints.The phase models based on misalignment angle and multiplicative quaternion error are derived.The state models for attitude estimation with and without external angular rate sensors are both erected.The attitude errors are estimated by adaptively robust filtering,in which the adaptive factors of ambiguity and attitude error are decided respectively following the idea of multi adaptive factor filtering.The factor of attitude is determined by a three-section function containing Ratio.Adaptively robust filtering makes the best use of constraint and historical information,fusing them in the calculation of float solution.As the accuracy of float solution and the structure of covariance matrix are improved greatly,the fix solution can be searched efficiently using LAMBDA (least-squares ambiguity decorrelation adjustment) method merely,perfectly fulfilling the real-time requirement.Field test of a ship-based three-antenna attitude system is used to validate the proposed method.It is showed that direct attitude determination based on adaptively robust filtering has obvious advantages in efficiency and reliability.