中国空间科学技术

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融合TRIAD算法用于GPS姿态确定

黎湧,吴宏鑫,刘良栋   

  1. 北京控制工程研究所!北京100080,北京控制工程研究所!北京100080,北京控制工程研究所!北京100080
  • 发布日期:2000-04-25

Fusion TRIAD Algorithm Applied to GPS Attitude Determination

Li Yong Wu Hongxin Liu Liangdong (Beijing Institute of Control Engineering,Beijing 100080)   

  • Published:2000-04-25

摘要： 研究把观测矢量定姿算法用于 GPS姿态确定。传统的 TRIAD算法利用两个非平行矢量确定载体的三轴姿态 ,但它存在对主矢量敏感 ,且不能利用第3根矢量的测量信息等缺点。文章提出一种改进的 TRIAD算法 ,克服了主矢量敏感问题 ;为了能利用 3根基线的观测信息 ,在 OPTTRIAD算法的基础上提出融合TRIAD算法 ,它可以提高定姿精度。用接收机进行了实验 ,结果表明改进的TRIAD算法确实克服了主矢量敏感问题 ;较之传统的 TRIAD算法 ,融合 TRIAD算法的偏航角、俯仰角和滚动角精度分别提高了 35 % ,19%和 34 %

关键词: 全球定位系统, 姿态确定, 融合算法

Abstract: The vector observation algorithms is applied to GPS attitude determination.The traditional TRIAD algorithm only uses two non-collinear vectors to determine three-axis attitudes.But it is sensitive to the master vector and can't use the third vector.An improved TRIAD algorithm is presented which efficiently resolve the problem of sensitive to the vector selection.In order to employ all measurements from three basslines,a new algorithm named fusion TRIAD is proposed on the basis of the OPTTRIAD algorithm.The fusion TRIAD algorithm can improve the accuracy of attitude solution obviously.The experiments are made by TANS vector GPS receiver.The results show that the sensitivity to the master vector actually disappears in the improved TRIAD algorithm.Compared with the traditional TRIAD algorithm,the fusion TRIAD algorithm can improve the accuracy of attitude solution 35%,19% and 34% in azimuth,pitch and roll respectively.