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題名 | Two Algorithms of Attitude Determination Using GPS Carrier Phase=利用GPS載波相位觀測發展兩套姿態角決定演算法 |
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作者 | 黃國興; 吳長舉; Huang, Guo-shing; Wu, Chang-ju; |
期刊 | 勤益學報 |
出版日期 | 20051200 |
卷期 | 23:2 民94.12 |
頁次 | 頁1-12 |
分類號 | 440.98 |
語文 | eng |
關鍵詞 | 動態全球定位系統; 整數未定值; 整數最小平方法; 未定值搜尋法; 增廣訊息濾波器; GPS attitude determination; Ambiguity function method; Extended information filter; Extended kalman filter; |
中文摘要 | 本論文主要著重在利用全球衛星定位系統載波相位觀測發展一套未定值函數法及另一套增廣訊息濾波器來執行載具三軸導航姿態角決定。雖然有之前即時動態全球衛星定位系統所累積的經驗,能快速求解出整數未定值,但是整數未定值常因為週波脫落而必須重新計算。在此本論文提出不須求解出整數未定值,而能進行載具導航姿態角決定。在本篇論文中將使用兩種方法決定載具姿態角,其一為AFM,另一為增廣訊息濾波器。而其中增廣訊息濾波器能在週波脫落時也能即時決定導航姿態角與整數未定值,在這系統也驗證增廣訊息濾波器與擴充式卡爾曼濾波器有相同結果,但是擴充式卡爾曼濾波器須有較精確的初始值才有可信的數據,而增廣訊息濾波器能有效降低計算量並適合用在多系統中。 |
英文摘要 | In this paper, two fast adaptive algorithms are proposed for three-degree-of –freedom attitude determination via the GPS carrier phase observation. According to some experience so far, we had set up a real-time kinematic GPS (KGPS). It can find the integer ambiguity fast using GPS carrier phase measurement. But the integer ambiguity must be often recalculated again due to cycle slip. This paper presents that even if the cycle slip happened also can calculate attitude determination. Two kinds of methods are proposed to find the attitude of vehicle. One is an ambiguity function method, another is an extended information filter (EIF). EIF approach can be used to solve the integer ambiguity and the attitude determination, simultaneously, even it happens the cycle slip. And it takes no much time to resolve the integer ambiguity of double difference equation in real-time. Both the EIF and EKF are demonstrably equivalent in this system, but EKF must be accurately initialized at the initial operation to ensure that the linearized models obtained are valid. The EIF algorithm can effectively reduce the excessive computational burden of the EKF, and uses in the multisensor data fusion applications. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。