一种基于自适应滤波的GPS滚转角估计方法

刘阳; 李怀建; 杜小菁

doi:10.13700/j.bh.1001-5965.2019.0414

一种基于自适应滤波的GPS滚转角估计方法

doi: 10.13700/j.bh.1001-5965.2019.0414

北京理工大学宇航学院, 北京 100081

详细信息

作者简介:
刘阳男, 硕士研究生。主要研究方向:卫星导航

李怀建男, 博士, 讲师, 硕士生导师。主要研究方向:卫星导航与组合导航

杜小菁女, 博士, 副教授, 硕士生导师。主要研究方向:惯性导航与组合导航

通讯作者:
杜小菁, E-mail: duxiaojing@bit.edu.cn

中图分类号: V249.32;TN967.1
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出版历程
- 收稿日期: 2019-07-26
- 录用日期: 2019-09-12
- 网络出版日期: 2020-06-20

A roll angle estimation method using GPS based on adaptive filter

School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

More Information

Corresponding author: DU Xiaojing, E-mail: duxiaojing@bit.edu.cn

摘要

摘要:
全球定位系统（GPS）测姿技术主要是利用GPS载波相位和信号功率2种方法，但是测量信息单一且独立，针对旋转载体的测姿问题，提出一种基于自适应滤波的GPS滚转角估计方法，通过融合GPS接收机天线信号功率和多普勒频率信息测量载体滚转角和滚转角速度。利用当前统计模型对滚转角和滚转角速度测量进行系统建模，根据滚转角预测估计值选取量测量，并提出自适应滤波，采用滚转角加速度估计自适应滤波算法，实现了对系统噪声方差阵的自适应调整，避免了滚转角加速度最值的选取问题，降低了噪声的影响。通过仿真验证了基于自适应滤波的GPS滚转角估计方法的可行性，结果表明该方法的测量精度高于无迹卡尔曼滤波（UKF）。
- 全球定位系统(GPS) /
- 当前统计模型 /
- 无迹卡尔曼滤波(UKF) /
- 自适应滤波 /
- 姿态测量
Abstract:
The two main techniques for Global Positioning System (GPS) attitude measurement are to use GPS carrier phase and signal power, but the measurement information is single and independent. Aimed at the problem of attitude measurement of a spinning vehicle, a roll angle estimation method using GPS based on adaptive filter is proposed, which measures the roll angle and roll angular velocity by combining signal power and Doppler frequency information of GPS receiver antenna. The system model of the roll angle and roll angular velocity measurement is established by using the current statistical model, the measurements are selected according to the predicted estimation value of the roll angle, and an adaptive filter is proposed. The adaptive filter algorithm of roll angular acceleration estimation is used to realize the adaptive adjustment of the variance matrix of the system noise, which avoids the selection of the roll angle acceleration maximum value and reduces the effect of noise. The feasibility of the roll angle estimation method using GPS based on adaptive filter is verified by simulation, and the results show that the measurement accuracy of the method is higher than that of Unscented Kalman Filter (UKF).
- Global Positioning System(GPS) /
- current statistical model /
- Unscented Kalman Filter(UKF) /
- adaptive filter /
- attitude measurement

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图 1 滚转角测量原理

Figure 1. Principle of roll angle measurement

下载: 全尺寸图片幻灯片

图 2 天线坐标系

Figure 2. Antenna coordinate system

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图 3 天线方向图

Figure 3. Antenna pattern

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图 4 某颗GPS卫星的测量结果

Figure 4. Measurement results of a GPS satellite

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图 5 匀加速机动的估计结果

Figure 5. Estimation results of constant-acceleration maneuver

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图 6 正弦机动的估计结果

Figure 6. Estimation results of sinusoidal maneuver

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图 7 不同噪声下的估计误差

Figure 7. Estimation error under different noises

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表 1 2种算法的均方根误差

Table 1. Root mean square error of two algorithms

机动形式	滤波算法	滚转角/(°)	滚转角速度/((°)·s^-1)	滚转角加速度/((°)·s^-2)
匀加速	UKF	2.7	10.7	23.8
匀加速	自适应滤波	1.7	3.7	3.7
正弦	UKF	3.1	28.2	139.3
正弦	自适应滤波	2.6	18.6	64.9

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