CN106291626A - Attitude angle initial method and device, attitude angle measuring method and device - Google Patents
Attitude angle initial method and device, attitude angle measuring method and device Download PDFInfo
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- CN106291626A CN106291626A CN201610586957.8A CN201610586957A CN106291626A CN 106291626 A CN106291626 A CN 106291626A CN 201610586957 A CN201610586957 A CN 201610586957A CN 106291626 A CN106291626 A CN 106291626A
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
A kind of attitude angle initial method, including: add up and drop into the attitude angle number of times in each angular interval, fixed solution number of times and float-solution number of times in statistics duration；Judge that whether the ratio of the fixed solution number of times in the angular interval that attitude angle probability of occurrence is maximum and float-solution number of times is more than the first thresholding；Whether the ratio of attitude angle number of times total in judging the attitude angle number of times in the angular interval that attitude angle probability of occurrence is maximum and statistics duration is more than the second thresholding；Judge that whether the ratio of attitude angle number of times in the angular interval that the attitude angle number of times in the angular interval that attitude angle probability of occurrence is maximum is second largest with attitude angle probability of occurrence is more than the 3rd thresholding；If above three judges in step that judged result is, then the meansigma methods calculating the attitude angle in the angular interval that attitude angle probability of occurrence is maximum exports as initialization value.Said method improves initialization reliability.The invention still further relates to a kind of attitude angle apparatus for initializing, a kind of attitude angle measuring method and device.
Description
Technical field
The present invention relates to the attitude measurement technical field of carrier, particularly relate to a kind of attitude angle initial method and
Device, further relates to a kind of attitude angle measuring method and device.
Background technology
Attitude measurement is generally used for satellite, spacecraft, manned machine and unmanned plane etc. and is in load dynamically or statically
On body.During surveying appearance, the attitude angle mainly for carrier measures.Attitude angle includes course angle, the angle of pitch and roll
Angle.Equipment, when exporting attitude angle first, needs to initialize.Using GNSS (Global Navigation
Satellite System, GLONASS) when carrying out attitude angle, owing to GNSS signal power is low, and very
It is easily subject to the interference of multipath signal or other forms, causes GNSS that unstable situation occurs when resolving attitude angle, thus lead
Cause to initialize mistake, reduce and initialize reliability, and then reduce the accuracy resolving the attitude angle obtained.
Summary of the invention
Based on this, it is necessary to provide a kind of attitude angle initial method and dress that can improve and initialize reliability
Put, also provide for a kind of attitude angle measuring method and device.
A kind of attitude angle initial method, described attitude angle is course angle, the angle of pitch or roll angle；Described method
Including: add up and drop into the attitude angle number of times in each angular interval, the fixed solution number of times of attitude angle and appearance in statistics duration
The float-solution number of times at state angle；Described attitude angle carries out attitude algorithm according to the GNSS signal received and obtains；Judge statistics duration
Whether fixed solution number of times in the angular interval that interior attitude angle probability of occurrence is maximum and the ratio of float-solution number of times be more than first
Limit；The appearance that attitude angle number of times in the angular interval that in judgement statistics duration, attitude angle probability of occurrence is maximum is total with in statistics duration
Whether the ratio of state angle number of times is more than the second thresholding；Appearance in the angular interval that in judgement statistics duration, attitude angle probability of occurrence is maximum
Whether the ratio of the attitude angle number of times in the angular interval that state angle number of times is second largest with attitude angle probability of occurrence is more than the 3rd thresholding；If
Above three judges in step that judged result is, then it represents that initialize successfully, calculates the angle that attitude angle probability of occurrence is maximum
The meansigma methods of the attitude angle in degree interval exports as initialization value.
Wherein in an embodiment, described statistics drops into the attitude angle in each angular interval time in statistics duration
Also include before the step of the float-solution number of times of number, the fixed solution number of times of attitude angle and attitude angle: by the distributed areas of attitude angle
It is divided into multiple angular interval by predetermined interval.
Wherein in an embodiment, described predetermined interval is 5 degree.
Wherein in an embodiment, if respectively judging that the judged result of step is not all is then to re-execute described statistics
The attitude angle number of times in each angular interval, the fixed solution number of times of attitude angle and the floating-point of attitude angle is dropped in statistics duration
Solve the step of number of times.
A kind of attitude angle apparatus for initializing, described attitude angle is course angle, the angle of pitch or roll angle；Including: system
Meter unit, drops into the fixed solution of the attitude angle number of times in each angular interval, attitude angle in statistics duration for statistics
Number and the float-solution number of times of attitude angle；Described attitude angle carries out attitude algorithm according to the GNSS signal received and obtains；Judge single
Unit, for judging to add up fixed solution number of times and float-solution number of times in the angular interval that attitude angle probability of occurrence is maximum in duration
Whether ratio is more than the first thresholding；Described judging unit is additionally operable to judge the angle that attitude angle probability of occurrence is maximum in statistics duration
In attitude angle number of times in interval and statistics duration, whether the ratio of total attitude angle number of times is more than the second thresholding, and when judging statistics
The angular area that in long, attitude angle number of times in the angular interval of attitude angle probability of occurrence maximum is second largest with attitude angle probability of occurrence
Whether the ratio of interior attitude angle number of times is more than the 3rd thresholding；And initialization unit, for perform at described judging unit
The judged result of each judge process is when being, calculates the average of attitude angle in the angular interval that attitude angle probability of occurrence is maximum
It is worth and exports as initialization value.
Wherein in an embodiment, described statistic unit is additionally operable to divide the distributed areas of attitude angle by predetermined interval
For multiple angular interval.
Wherein in an embodiment, described predetermined interval is 5 degree.
Wherein in an embodiment, each judge process that described statistic unit is additionally operable to perform at described judging unit
Judged result is not all when being, again adds up attitude angle number of times, the attitude dropping in each angular interval in statistics duration
The fixed solution number of times at angle and the float-solution number of times of attitude angle.
A kind of attitude angle measuring method, for measuring the attitude angle of carrier；Described attitude angle is course angle, pitching
Angle or roll angle；Described method includes: receives GNSS signal and carries out solving of attitude；Carry out attitude angle initialization,
In statistics duration, the attitude angle number of times in each angular interval, the fixed solution number of times of attitude angle and attitude is dropped into including statistics
The float-solution number of times at angle；Fixed solution number of times in the angular interval that in judgement statistics duration, attitude angle probability of occurrence is maximum and floating-point
Whether solve the ratio of number of times more than the first thresholding；Appearance in the angular interval that in judgement statistics duration, attitude angle probability of occurrence is maximum
Whether the ratio of attitude angle number of times total in state angle number of times and statistics duration is more than the second thresholding；In judging statistics duration, attitude angle goes out
Attitude angle in the angular interval that now the attitude angle number of times in the angular interval of maximum probability is second largest with attitude angle probability of occurrence
Whether the ratio of number of times is more than the 3rd thresholding；If above three judges in step that judged result is, then it represents that initialize successfully,
The meansigma methods calculating the attitude angle in the angular interval that attitude angle probability of occurrence is maximum exports as initialization value；At the beginning of described
Beginning value processes resolving the attitude angle obtained；And the attitude angle obtained after output process.
A kind of attitude angle device, for measuring the attitude angle of carrier；Described attitude angle is course angle, pitching
Angle or roll angle；Described attitude angle device includes: solving unit, is used for receiving GNSS signal and carrying out attitude angle solution
Calculate；Attitude angle apparatus for initializing, including statistic unit, drops in each angular interval in statistics duration for statistics
Attitude angle number of times, the fixed solution number of times of attitude angle and the float-solution number of times of attitude angle；Judging unit, is used for judging to add up duration
Whether fixed solution number of times in the angular interval that interior attitude angle probability of occurrence is maximum and the ratio of float-solution number of times be more than first
Limit；Described judging unit is additionally operable to judge the attitude angle in the angular interval that attitude angle probability of occurrence is maximum in statistics duration
Whether the ratio of attitude angle number of times total in number of times and statistics duration is more than the second thresholding, and judges to add up attitude angle appearance in duration
Attitude angle time in the angular interval that attitude angle number of times in the angular interval of maximum probability is second largest with attitude angle probability of occurrence
Whether the ratio of number is more than the 3rd thresholding；And initialization unit, for sentencing of each judge process of performing at described judging unit
Disconnected result is when being, the meansigma methods of the attitude angle in the angular interval that calculating attitude angle probability of occurrence is maximum is as initialization value
Output；Processing unit, for processing resolving the attitude angle obtained according to described initialization value；And output unit, use
The attitude angle obtained after defeated process.
Above-mentioned attitude angle initial method and device, drop into each angular interval by statistics in statistics duration
Interior attitude angle number of times, the fixed solution number of times of attitude angle and the float-solution number of times of attitude angle, and judge attitude according to statistical result
Whether fixed solution number of times and the ratio of float-solution number of times in the angular interval that angle probability of occurrence is maximum are more than the first thresholding, to protect
In the angular interval of card maximum of probability, there is certain fixed solution ratio, it is to avoid in the angular interval of maximum of probability, be entirely floating-point
Solve.The most also can judge the attitude that the attitude angle number of times in the angular interval that attitude angle probability of occurrence is maximum is total with in statistics duration
Whether the ratio of angle number of times is more than the second thresholding, to have enough correct results in ensureing statistics duration.In initialization procedure, also need
The angle that attitude angle number of times in the angular interval that attitude angle probability of occurrence to be judged is maximum is second largest with attitude angle probability of occurrence
Whether the ratio of the attitude angle number of times in interval is more than the 3rd thresholding, to guarantee that the angular interval judging maximum probability is correct
Solve interval.The only judged result in above-mentioned judgement step is and is, just represents and initializes successfully, and it is general to calculate attitude angle appearance
The meansigma methods of the attitude angle in the angular interval that rate is maximum exports as initialization value, thus improves the reliable of initialization procedure
Property.
Above-mentioned attitude angle measuring method and device, carry out initializing at above-mentioned attitude angle initial method and device
After initialization value more reliably, utilize this initialization value that the attitude angle of follow-up output is processed, so that it is guaranteed that attitude
The attitude angle that angle measuring device measurement obtains has higher accuracy.
Accompanying drawing explanation
Fig. 1 is the flow chart of the attitude angle measuring method in an embodiment；
Fig. 2 is the flow chart of the S120 in Fig. 1；
Fig. 3 is the structured flowchart of the attitude angle device in an embodiment；
Fig. 4 is the structured flowchart of the attitude angle apparatus for initializing in Fig. 3.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, and
It is not used in the restriction present invention.
Fig. 1 is the flow chart of the attitude angle measuring method in an embodiment.This attitude angle measuring method can apply to carry
In body, measure with the attitude angle to carrier.Carrier can be static carrier, it is also possible to for dynamic carrier.Such as, carrier can
Think satellite, spacecraft, manned machine and unmanned plane etc..The attitude angle measured can be course angle, the angle of pitch or roll angle.
In the present embodiment, illustrate as a example by attitude angle is as course angle.This attitude angle measuring method comprises the following steps:
S110, receives GNSS signal and carries out course angle resolving.
After receiving GNSS signal and this GNSS signal being carried out respective handling, it is carried out course angle resolving, and export resolving
The course angle obtained and the resolving state corresponding with this course angle.The resolving state of course angle includes fixed solution and float-solution two
Kind.Course angle solution process can use the existing resolver in this area to realize.
S120, carries out course angle and measures initialization.
After attitude angle device in the carrier is opened, and needed to carry out before exporting correct course angle for the first time
Course angle is measured and is initialized, to guarantee that measuring the course angle obtained is correct course angle.The idiographic flow of this step such as Fig. 2 institute
Show, including following sub-step.
S210, adds up and drops into the course angle number of times in each angular interval, the fixed solution of course angle in statistics duration
The float-solution number of times of number of times and course angle.
In the present embodiment, a statistics duration can be preset, with statistics distribution situation of course angle in this duration.Specifically
The distributed areas of course angle, before statistics (namely before S210), first can be divided into multiple angle according to predetermined interval by ground
Interval.For example, it is possible to 360 degree of course angle regions are divided into multiple angular interval by predetermined angle interval.Predetermined angle is spaced
Can precision according to actual needs be adjusted.In the present embodiment, predetermined interval is 5 degree, also will angular region, 360 degree of courses
Territory is divided into 72 angular interval.Add up the course angle number of times dropping into each angular interval in statistics duration, and unite respectively
Meter drops into fixed solution number of times and the float-solution number of times of the course angle in each angular interval.Course according to each angular interval
The course angle number of times that angle number of times is total in can counting statistics duration.Further, according to the course angle number of times of each angular interval
Determine the angular interval of course angle probability of occurrence maximum and second largest angular interval.Statistics duration can set as required
Fixed, it usually needs more than 30 seconds.
S220, it is judged that the fixed solution number of times in the angular interval that in statistics duration, course angle probability of occurrence is maximum and float-solution
Whether the ratio of number of times is more than the first thresholding.
By the fixed solution number of times in the angular interval that course angle probability of occurrence in judgement statistics duration is maximum and float-solution
Whether the ratio of number of times is more than the first thresholding, it can be ensured that the angular interval of maximum probability has certain fixed solution ratio, anti-
Only it is entirely float-solution.The precision of float-solution is less than the precision of fixed solution, by assuring that consolidating in the angular interval of maximum probability
Surely solve ratio, it can be ensured that the accuracy of initialization value, improve initialized reliability.First thresholding can be carried out as required
Set.In the present embodiment, the first thresholding is more than 0.3.If judged result is no, then returns and re-execute S210, if judging knot
Fruit is yes, then continue executing with subsequent step.
S230, it is judged that when the course angle number of times in the angular interval that in statistics duration, course angle probability of occurrence is maximum and statistics
Whether the ratio of course angle number of times total in long is more than the second thresholding.
During by the course angle number of times in the angular interval that course angle probability of occurrence in judgement statistics duration is maximum and statistics
Whether course angle number of times total in long is prepared more than the second thresholding, it can be ensured that in statistics duration in the angular interval of maximum probability
There are enough course angle number of times, and then have enough correct results in guaranteeing to add up duration, prevent only minority correct result
Situation occurs, and then improves initialized reliability.Second thresholding is set the most as required.At the present embodiment
In, the second thresholding is more than 0.67.If judged result is no, then returns and perform S210, the most then perform subsequent step.
S240, it is judged that the course angle number of times in the angular interval that in statistics duration, course angle probability of occurrence is maximum and course angle
Whether the ratio of the course angle number of times in the angular interval that probability of occurrence is second largest is more than the 3rd thresholding.
By the course angle number of times in the angular interval that course angle probability of occurrence in judgement statistics duration is maximum and course angle
Whether the ratio of the course angle number of times in the angular interval that probability of occurrence is second largest is more than the 3rd thresholding, it can be ensured that maximum of probability district
Between and second largest probability interval respective sum difference sufficiently large, with the relatively reliable angular interval judging maximum probability as just
Really solve interval.3rd thresholding is set the most as required.In the present embodiment, the 3rd thresholding is less than 0.5.If judging
Result is no, then return and perform S210, the most then perform subsequent step.In the present embodiment, between S220, S230 and S240
Order can mutually exchange, the strictest sequencing, it is also possible to by multiprocessor synchronization process.
S250, the meansigma methods of the course angle in the angular interval that calculating course angle probability of occurrence is maximum is defeated as initialization value
Go out.
Only on the premise of tri-judged results judged in step of S220, S230 and S240 are and are, just it is believed that
Initialize successfully.Now, the meansigma methods of the course angle in the angular interval that calculating course angle probability of occurrence is maximum is as initialization
Value output.After measuring initial method by above-mentioned course angle, initialized reliability is higher.By using probability statistics model
Completing course angle to initialize, the method by under certain disturbed condition, still has higher in bad environments or GNSS signal
Reliability.
S130, processes resolving the course angle obtained according to this initialization value.
After output initialization value, the course angle of follow-up output can be processed.Specifically, filtering algorithm profit are used
Process resolving the original course angle obtained with the initialization value obtained, thus process and obtain course angle the most accurately.
The reliability of the initialization value owing to using in filtering algorithm is higher, it can be ensured that processes the course angle obtained and has higher standard
Exactness.
S140, the course angle that output obtains after processing.
Attitude angle is measuring method when the angle of pitch or roll angle with the measuring method of course angle is identical.
Above-mentioned attitude angle measuring method, can initialize before output attitude angle.Initialization procedure is being united by statistics
The float-solution of the attitude angle number of times in each angular interval, the fixed solution number of times of attitude angle and attitude angle is dropped in timing length
Number, and judge the fixed solution number of times in the angular interval of attitude angle probability of occurrence maximum and float-solution number of times according to statistical result
Ratio, whether more than the first thresholding, has certain fixed solution ratio with in the angular interval that guarantee probability is maximum, it is to avoid probability
Float-solution it is entirely in maximum angular interval.The most also can judge the attitude in the angular interval that attitude angle probability of occurrence is maximum
The ratio of angle number of times and the attitude angle number of times in statistics duration whether more than the second thresholding, with have in ensureing statistics duration enough just
Really result.In initialization procedure, in addition it is also necessary to judge the attitude angle number of times in the angular interval that attitude angle probability of occurrence is maximum and appearance
Whether the ratio of the attitude angle number of times in the angular interval that state angle probability of occurrence is second largest is more than the 3rd thresholding, to guarantee to judge
Maximum of probability interval is for correctly solving interval.The only judged result in above-mentioned judgement step is and is, just represents and initializes successfully,
And the meansigma methods calculating the attitude angle in the angular interval that attitude angle probability of occurrence is maximum exports as initialization value, thus improve
The reliability of initialization procedure, and then improve the accuracy of attitude angle.Above-mentioned attitude angle measuring method, by using
Probability statistics model completes course angle and initializes, and can improve under bad environments or GNSS signal are by certain disturbed condition
Measure and initialize reliability, thus solve at the beginning of the attitude angle when GNSS satellite quantity is few within sweep of the eye or is interfered
The problem of time beginning length and easily initialization error.
Fig. 3 is the structured flowchart of the attitude angle device in an embodiment.This attitude angle device can apply to
In carrier, measure with the attitude angle to carrier.The attitude angle measured can be course angle, the angle of pitch or roll angle.?
In the present embodiment, illustrate as a example by course angle.This attitude angle device includes at the beginning of solving unit 310, attitude angle
Beginning gasifying device 320, processing unit 330 and output unit 340.
Solving unit 310 is used for receiving GNSS signal and carrying out course angle resolving.
Attitude angle apparatus for initializing 320 includes statistic unit 410, judging unit 420 and initialization unit 430, as
Shown in Fig. 4.Statistic unit 410 drops into the course angle number of times in each angular interval, course for statistics in statistics duration
The fixed solution number of times at angle and the float-solution number of times of course angle.In the present embodiment, statistic unit 410 is before performing statistics, also
First the distributed areas of course angle can be divided into multiple angular interval by predetermined angle interval.Predetermined angle interval can be according to reality
The precision that border needs is adjusted.In the present embodiment, predetermined interval is 5 degree.Statistics duration can set, generally as required
Need more than 30 seconds.Judging unit 420 is for judging to add up consolidating in the angular interval of course angle probability of occurrence maximum in duration
Whether the ratio of number of times and float-solution number of times that surely solves is more than the first thresholding.Judging unit 420 is additionally operable to judge boat in statistics duration
Whether the ratio of the course angle number of times that the course angle number of times in the angular interval that angle probability of occurrence is maximum is total with in statistics duration surpasses
Cross the second thresholding, and judge to add up the course angle number of times in the angular interval that course angle probability of occurrence in duration is maximum and course angle
Whether the ratio of the course angle number of times in the angular interval that probability of occurrence is second largest is more than the 3rd thresholding.Initialization unit 430 is used for
Judged result in the above three judge process that judging unit 420 performs is when being, calculates course angle probability of occurrence
The meansigma methods of the big course angle in angular interval exports as initialization value.Statistic unit 430 is additionally operable at judging unit 420
Judged result in the above three judge process performed is not all when being, again adds up and drops into each angle in statistics duration
Course angle number of times, the fixed solution number of times of course angle and the float-solution number of times of course angle in degree interval, again to initialize,
Until initializing successfully.
The course angle that follow-up resolving is obtained by processing unit 330 for the initialization value obtained according to initialization unit 430
Process.
The course angle that output unit 340 obtains after exporting process.
Above-mentioned attitude angle device, can initialize before output course angle.Initialization procedure is being united by statistics
The float-solution of the attitude angle number of times in each angular interval, the fixed solution number of times of attitude angle and attitude angle is dropped in timing length
Number, and judge the fixed solution number of times in the angular interval of attitude angle probability of occurrence maximum and float-solution number of times according to statistical result
Ratio, whether more than the first thresholding, has certain fixed solution ratio with in the angular interval that guarantee probability is maximum, it is to avoid probability
Float-solution it is entirely in maximum angular interval.The most also can judge the attitude in the angular interval that attitude angle probability of occurrence is maximum
The ratio of angle number of times and the attitude angle number of times in statistics duration whether more than the second thresholding, with have in ensureing statistics duration enough just
Really result.In initialization procedure, in addition it is also necessary to judge the attitude angle number of times in the angular interval that attitude angle probability of occurrence is maximum and appearance
Whether the ratio of the attitude angle number of times in the angular interval that state angle probability of occurrence is second largest is more than the 3rd thresholding, to guarantee to judge
Maximum of probability interval is for correctly solving interval.The only judged result in above-mentioned judgement step is and is, just represents and initializes successfully,
And the meansigma methods calculating the attitude angle in the angular interval that attitude angle probability of occurrence is maximum exports as initialization value, thus improve
The reliability of initialization procedure, and then improve the accuracy of attitude angle.Above-mentioned attitude angle device, by using
Probability statistics model completes course angle and initializes, and can improve under bad environments or GNSS signal are by certain disturbed condition
Measure and initialize reliability, thus solve at the beginning of the attitude angle when GNSS satellite quantity is few within sweep of the eye or is interfered
The problem of time beginning length and easily initialization error.
Each technical characteristic of embodiment described above can combine arbitrarily, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic executed in example is all described, but, as long as the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope that this specification is recorded.
Embodiment described above only have expressed the several embodiments of the present invention, and it describes more concrete and detailed, but also
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that, come for those of ordinary skill in the art
Saying, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement, these broadly fall into the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. an attitude angle initial method, described attitude angle is course angle, the angle of pitch or roll angle；Its feature exists
In, described method includes:
Add up and drop into the attitude angle number of times in each angular interval, the fixed solution number of times of attitude angle and attitude in statistics duration
The float-solution number of times at angle；Described attitude angle carries out attitude algorithm according to the GNSS signal received and obtains；
Fixed solution number of times in the angular interval that in judgement statistics duration, attitude angle probability of occurrence is maximum and the ratio of float-solution number of times
Whether example is more than the first thresholding；
Attitude angle number of times in the angular interval that in judgement statistics duration, attitude angle probability of occurrence is maximum is total with in statistics duration
Whether the ratio of attitude angle number of times is more than the second thresholding；
Attitude angle number of times in the angular interval that in judgement statistics duration, attitude angle probability of occurrence is maximum and attitude angle probability of occurrence
Whether the ratio of the attitude angle number of times in second largest angular interval is more than the 3rd thresholding；
If above three judges in step that judged result is, then it represents that initialize successfully, calculate attitude angle probability of occurrence
The meansigma methods of the big attitude angle in angular interval exports as initialization value.
Method the most according to claim 1, it is characterised in that described statistics drops into each angular area in statistics duration
Also include before the step of the float-solution number of times of interior attitude angle number of times, the fixed solution number of times of attitude angle and attitude angle: by appearance
The distributed areas at state angle are divided into multiple angular interval by predetermined interval.
Method the most according to claim 2, it is characterised in that described predetermined interval is 5 degree.
Method the most according to claim 1, it is characterised in that if respectively judging that the judged result of step is not all is then to weigh
The described statistics of new execution drops into the fixed solution number of times of the attitude angle number of times in each angular interval, attitude angle in statistics duration
Step with the float-solution number of times of attitude angle.
5. an attitude angle apparatus for initializing, described attitude angle is course angle, the angle of pitch or roll angle；Its feature exists
In, including:
Statistic unit, drops into the attitude angle number of times in each angular interval, the consolidating of attitude angle for statistics in statistics duration
Surely number of times and the float-solution number of times of attitude angle are solved；Described attitude angle carries out attitude algorithm according to the GNSS signal received and obtains；
Judging unit, for judging that the fixed solution number of times adding up in the angular interval that in duration, attitude angle probability of occurrence is maximum is with floating
Whether point solves the ratio of number of times more than the first thresholding；Described judging unit is additionally operable to judge attitude angle probability of occurrence in statistics duration
The ratio of attitude angle number of times total in the maximum attitude angle number of times in angular interval and statistics duration whether more than the second thresholding, and
Attitude angle number of times in the angular interval that in judgement statistics duration, attitude angle probability of occurrence is maximum and attitude angle probability of occurrence second
Whether the ratio of the attitude angle number of times in big angular interval is more than the 3rd thresholding；And
Initialization unit, for the judged result of each judge process that described judging unit performs be time, calculate attitude
The meansigma methods of the attitude angle in the angular interval that angle probability of occurrence is maximum exports as initialization value.
Attitude angle apparatus for initializing the most according to claim 5, it is characterised in that described statistic unit be additionally operable to by
The distributed areas of attitude angle are divided into multiple angular interval by predetermined interval.
Attitude angle apparatus for initializing the most according to claim 6, it is characterised in that described predetermined interval is 5 degree.
Attitude angle apparatus for initializing the most according to claim 6, it is characterised in that described statistic unit is additionally operable to
The judged result of each judge process that described judging unit performs is not all when being, again adds up and drops into often in statistics duration
The float-solution number of times of attitude angle number of times, the fixed solution number of times of attitude angle and attitude angle in individual angular interval.
9. an attitude angle measuring method, for measuring the attitude angle of carrier；Described attitude angle is course angle, the angle of pitch
Or roll angle；It is characterized in that, described method includes:
Receive GNSS signal and carry out solving of attitude；
Carry out attitude angle initialization, including
Add up and drop into the attitude angle number of times in each angular interval, the fixed solution number of times of attitude angle and attitude in statistics duration
The float-solution number of times at angle；
Fixed solution number of times in the angular interval that in judgement statistics duration, attitude angle probability of occurrence is maximum and the ratio of float-solution number of times
Whether example is more than the first thresholding；
Attitude angle number of times in the angular interval that in judgement statistics duration, attitude angle probability of occurrence is maximum is total with in statistics duration
Whether the ratio of attitude angle number of times is more than the second thresholding；
Attitude angle number of times in the angular interval that in judgement statistics duration, attitude angle probability of occurrence is maximum and attitude angle probability of occurrence
Whether the ratio of the attitude angle number of times in second largest angular interval is more than the 3rd thresholding；
If above three judges in step that judged result is, then it represents that initialize successfully, calculate attitude angle probability of occurrence
The meansigma methods of the big attitude angle in angular interval exports as initialization value；
Process resolving the attitude angle obtained according to described initialization value；And
The attitude angle that output obtains after processing.
10. an attitude angle device, for measuring the attitude angle of carrier；Described attitude angle is course angle, pitching
Angle or roll angle；It is characterized in that, described attitude angle device includes:
Solving unit, is used for receiving GNSS signal and carrying out solving of attitude；
Attitude angle apparatus for initializing, including
Statistic unit, drops into the attitude angle number of times in each angular interval, the consolidating of attitude angle for statistics in statistics duration
Surely number of times and the float-solution number of times of attitude angle are solved；
Judging unit, for judging that the fixed solution number of times adding up in the angular interval that in duration, attitude angle probability of occurrence is maximum is with floating
Whether point solves the ratio of number of times more than the first thresholding；In described judging unit is additionally operable to judge statistics duration, attitude angle occurs
Whether the ratio of attitude angle number of times total in the attitude angle number of times in the angular interval of maximum probability and statistics duration is more than second
Limit, and judge attitude angle number of times and the attitude angle probability of occurrence adding up in the angular interval that attitude angle probability of occurrence is maximum in duration
Whether the ratio of the attitude angle number of times in second largest angular interval is more than the 3rd thresholding；And
Initialization unit, for the judged result of each judge process that described judging unit performs be time, calculate attitude
The meansigma methods of the attitude angle in the angular interval that angle probability of occurrence is maximum exports as initialization value；
Processing unit, for processing resolving the attitude angle obtained according to described initialization value；And
Output unit, the attitude angle obtained after defeated process.
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