Acta Geodaetica et Cartographica Sinica >

2015 , Vol. 44 >Issue 9: 945 - 951

DOI: https://doi.org/10.11947/j.AGCS.2015.20140492

Instantaneous Attitude Determination Based on Original Multi-antenna Observations Using Adaptively Robust Kalman Filtering

  • GAN Yu ,
  • SUI Lifen ,
  • LIU Changjian ,
  • DONG Ming
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  • Institute of Surveying and Mapping, Information Engineering University, Zhengzhou 450000, China

Received date: 2014-09-24

  Revised date: 2015-05-14

  Online published: 2015-09-24

Supported by

The National Natural Science Foundation of China(Nos.41274016;40974010);Key Fund of Geographic Information Engineering National Key Laboratory(No.SKLGIE2014-Z-2-1)

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Abstract

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.

Key words： adaptively robust filtering; multi adaptive factors; multi-antennas; instantaneous resolution; quaternion error; misalignment angle

Cite this article

GAN Yu , SUI Lifen , LIU Changjian , DONG Ming . Instantaneous Attitude Determination Based on Original Multi-antenna Observations Using Adaptively Robust Kalman Filtering[J]. Acta Geodaetica et Cartographica Sinica, 2015 , 44(9) : 945 -951 . DOI: 10.11947/j.AGCS.2015.20140492

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