利用多天線GPS 技術進行載台姿態定位

Abstract

本研究之主要目標為建立多天線全球衛星定位系統姿態參數高效解算技術與誤差分析方法。首先，為了配合移動載台之高動態特性，研究中引入具有快速解算效能之非迭代轉換參數解算方式，並比較各種方法之解算條件與效率，接著針對姿態參數解算成果建立誤差推估以及分析方式，藉以明確評估姿態參數品質。而透過數值模擬以及實際應用所獲得之成果顯示，所提之多天線GPS求解姿態參數之技術搭配高效率之非迭代解法，可在無任何外部先驗資訊的條件下，快速求得可靠之載台姿態參數，對於具有高動態之移動載台應用可提供各高效且可靠之姿態求解方案。

This study aims to develop an efficient multi-antenna GPS technique and quality evaluation approach that can be used to determine the attitude parameters for a moving platform. First, considering the highly dynamic behavior of a moving platform, non-iterative analysis approaches were introduced and their efficiency and reliability were analyzed. Then, a rigorous error analysis approach was established to give definite indications on the obtained attitude parameters. Based on the numerical results from both simulated and real data, it is proven that the proposed approach is capable of giving accurate attitude parameter estimates independently without the need for auxiliary information. Consequently, the multi-antenna GPS system can serve as a reliable resolution of the attitude determination for moving platforms.