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Using Phase Measurements for Determining a Vehicle's Attitude Parameters by a GPS-Aided Inertial System

机译：使用相位测量通过GPS辅助惯性系统确定车辆的姿态参数

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摘要

The problem of determining a vehicle's attitude parameters is considered. The solution to this problem is based on the integration of data from a strapdown inertial measurement unit (SIMU) on MEMS sensors and two receivers of the Global Navigation Satellite System (GNSS) with spaced antennas with the aim to form phase measurements. The algorithms and errors of a GPS-aided inertial system-integrated attitude and navigation system (IANS)-in attitude determination of a moving vehicle are studied. Coprocessing of data is carried out with the use of the algorithm of an extended Kalman filter (EKF) with feedback for the whole state vector of the system. A specific feature of the IANS considered here is that the data from the SIMU and GNSS receiver unit (RU) are integrated with primary phase measurements from two receivers with antennas spaced on a certain base. The elimination of the phase measurement ambiguity is made possible due to the SIMU data. The results of office studies of the data obtained during sea tests of an SIMU prototype on MEMS sensors, developed by CSRI Elektropribor, and a GNSS RU with two receivers (Ashtech G12 and Kotlin developed by the Russian Institute of Radionavigation and Time, JSC (RIRT)).
机译：考虑确定车辆的姿态参数的问题。该问题的解决方案基于来自MEMS传感器上的捷联惯性测量单元（SIMU）的数据以及全球导航卫星系统（GNSS）的两个接收器（带有间隔天线）的数据集成，旨在形成相位测量。研究了GPS辅助惯性系统结合姿态与导航系统（IANS）在移动车辆姿态确定中的算法和误差。使用扩展卡尔曼滤波器（EKF）的算法对数据进行共处理，并对该系统的整个状态向量进行反馈。这里考虑的IANS的一个特殊特征是，来自SIMU和GNSS接收器单元（RU）的数据与来自两个接收器的一次相位测量值集成在一起，天线的间隔一定。由于SIMU数据，可以消除相位测量的歧义。对由CSRI Elektropribor开发的SIMU原型在MEMS传感器和带有两个接收器的GNSS RU（由俄罗斯无线电导航与时间研究所JSC（RIRT开发的Ashtech G12和Kotlin ））。

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  • 来源
    《Gyroscopy and navigation》 |2011年第4期|p.256-260|共5页
  • 作者

    G. I. Emelyantsev; B. A. Blazhnov; A. P. Stepanov;

  • 作者单位

    St. Petersburg State University of Information Technologies, Mechanics, and Optics, Russia;

    Concern CSRI Elektropribor, JSC, St. Petersburg, Russia;

    Concern CSRI Elektropribor, JSC, St. Petersburg, Russia;

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