載波相位差分式GPS/INS整合導航系統之姿態判定

Attitude Determination by Carrier-Phase DGPS/INS Navigation Systems

卓大靖(Dah-Jing Jwo) ； 張在欣(Tsai-Hsin Chang)

《中國航空太空學會學刊》 34卷4期 (2002/12) Pp. 387-394

https://doi.org/10.6124/TAASRC.200212_34(4).12

摘要

本文對於載波相位差分式GPS/INS（Carrier-Phase DGPS/INS，簡稱CDGPS/INS）緊密耦聯整合導航系統之姿態判定進行研究。有別於使用單純GPS載波相位觀測量資訊所進行之姿態判定，此處將GPS與INS結合，使用二次差分載波相位觀測量做為主卡爾曼濾波器之量測模型，對INS之姿態誤差進行最佳估測後加以除去，而獲得更新之姿態角訊息。此種CDGPS/INS整合系統具備了個別系統之優點，例如訊號之快速初捕獲／再捕獲、較高更新率以及誤差不發散等姿態角訊息，文中針對單純GPS系統，鬆弛耦聯GPS/INS，以及緊密耦聯CDGPS/INS整合系統所獲得之姿態判定結果進行比較分析。

關鍵字

全球定位系統 ； 姿态判定 ； 載波相位差分式GPS/INS

並列摘要

Due to its higher accuracy and precision compared to code observations, carrier phase observable is used to achieve the highest accuracy of estimated position. The carrier phase observable provides relative positioning in centimeter level and has been widely applied to attitude determination. Double differenced observable from two antennas eliminates satellite and receiver timing errors. Using ultra short baseline (e.g., less than one meter between two antennas), ionospheric and tropospheric parameters become negligible. In this paper, a full carrier-phase DGPS (CDGPS)/INS integration technique will be developed, which provides efficient integer ambiguity search and cycle slip detection and repair. Unlike the use of pure GPS measurements for attitude determination, the double differenced observable will be employed as the measurement of the master Kalman filter to best estimate the INS attitude errors and remove them. Comparison on the accuracy from GPS alone, loosely-coupled GPS/INS, and tightly-coupled CDGPS/INS will be presented.

並列關鍵字

GPS ； Attitude determination ； Carrier-phase DGPS/INS