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。
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.
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