국내 최대 기계 및 로봇 연구정보

기술보고서

기술보고서 게시판 내용
타이틀	New Estimation Methods for Attitude Determination Using GPS Carrier Phase Measurements-Part 1
저자	Yong Li, MURATA Masaaki
Keyword	attitude determination; GPS; carrier phase; least squares; Wahba's problem
URL	http://send.nal.go.jp/send/jpn/dlpdf.php3/naltr0001424T.pdf?id=NALTR0001424T
보고서번호	NAL-TR-1424T
발행년도	2000.6
출처	NAL (National Aerospace Laboratory of Japan)
ABSTRACT	This paper presents a new approach to the problem of attitude determination using GPS. Unlike the traditional linearized, or quaternion-based methods, the attitude matrix element solution is calculated directly. This approach is computationally more economical than the linearized method, and does not need any initial attitude, as it is a non-iterative, forward procedure. As a generalization of the balanced condition, a symmetric condition is introduced which acts to simplify the derived solution, and makes the approach suitable for either coplanar or non-coplanar baseline configurations. It is also applicable to both symmetric and non-symmetric cases. Furthermore, it can act as a compass algorithm in the case of a two-antenna configuration which always fulfills the symmetric condition. The results of experiments demonstrate that algorithms derived from this new approach are highly efficient.