基于多台GPS接收机的三维姿态确定与精度分析

3 D Attitude Determination and Accuracy Analysis Based on Multi GPS Receivers

摘要:

根据一个模拟动态定位实例,采用多台GPS接收机动态定位,得到单历元定位结果,然后采用不同的天线组合解算姿态.结果显示,对于约5 m长宽的基线组合,获得的航向角精度约为0.05°,横滚角和纵摇角的精度约为0.2°;对于约10 m长宽的基线组合,航向角精度约为0.03°,横滚角和纵摇角的精度约为0.11°.可知,姿态角的精度与纵横向的基线长度有关.当基线长度相同时,航向角的精度高于横滚角和纵滚角.其中,航向角和纵滚角的精度主要与航向长度有关,而横滚角则与横向长度有关.基线越长,对应的姿态角的精度越高.

Abstract:

According to a simulated data set,single epoch positioning results by kinematic positioning were obtained,and then the attitude were calculated with various antenna combinations respectively.The results show that when the length of the baseline is about 5m in square,the RMS for Yaw is about ±0.05°,while Roll and Pitch are about ±0.2°.When the length of the baselines is about 10m in square,the RMS for Yaw is about ±0.03°,while Roll and Pitch are about ±0.11°.So the accuracy of the attitude angles has a correlation with the length of the transverse and longitudinal baselines.When the lengths of baselines are the same,the accuracy of Yaw is higher than Roll and Pitch.The accuracy of Yaw and Roll mainly depends on the lengths of the longitudinal baselines,while the accuracy of Pitch transverse denpends on the length of transverse baselines.In general,the longer the baseline is,the higher accuracy of the attitude angles will be.