CN106291626B - 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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- CN106291626B CN106291626B CN201610586957.8A CN201610586957A CN106291626B CN 106291626 B CN106291626 B CN 106291626B CN 201610586957 A CN201610586957 A CN 201610586957A CN 106291626 B CN106291626 B CN 106291626B
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
Abstract
A kind of attitude angle initial method, comprising: statistics drops into attitude angle number, fixed solution number and float-solution number in each angular interval in statistics duration；Judge the ratio of the fixed solution number and float-solution number in the maximum angular interval of attitude angle probability of occurrence whether more than the first thresholding；Judge the ratio between attitude angle number total in attitude angle number and the statistics duration in the maximum angular interval of attitude angle probability of occurrence whether more than the second thresholding；Judge whether the ratio between the attitude angle number in the maximum angular interval of attitude angle probability of occurrence and attitude angle number in second largest angular interval of attitude angle probability of occurrence are more than third thresholding；If judging result is to be in above three judgment step, the average value for calculating the attitude angle in the maximum angular interval of attitude angle probability of occurrence is exported as initialization value.The above method improves initialization reliability.The invention further relates to a kind of attitude angle apparatus for initializing, a kind of attitude angle measuring method and devices.
Description
Technical field
The present invention relates to the attitude measurement technical field of carrier, more particularly to a kind of attitude angle initial method and
Device further relates to a kind of attitude angle measuring method and device.
Background technique
Attitude measurement is generally used for satellite, spacecraft, manned machine and unmanned plane etc. in load dynamically or statically
On body.It surveys during appearance, is measured mainly for the attitude angle of carrier.Attitude angle includes course angle, pitch angle and roll
Angle.Equipment is initialized when exporting attitude angle for the first time.Using GNSS (Global Navigation
Satellite System, Global Navigation Satellite System) carry out attitude angle when, since GNSS signal power is low, and very
It is easy the interference by multipath signal or other forms, causes GNSS unstable situation occur when resolving attitude angle, to lead
Initialization mistake is caused, reduces initialization reliability, and then reduce the accuracy for resolving obtained attitude angle.
Summary of the invention
Based on this, it is necessary to provide a kind of attitude angle initial method and dress that initialization reliability can be improved
It sets, a kind of attitude angle measuring method and device is also provided.
A kind of attitude angle initial method, the attitude angle are course angle, pitch angle or roll angle；The method
It include: statistics in the fixed solution number and appearance for counting the attitude angle number, attitude angle that are dropped into each angular interval in duration
The float-solution number at state angle；The attitude angle carries out attitude algorithm according to the GNSS signal received and obtains；Judgement statistics duration
Whether the ratio of fixed solution number and float-solution number in the interior maximum angular interval of attitude angle probability of occurrence is more than first
Limit；Total appearance in attitude angle number and statistics duration in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between state angle number is more than the second thresholding；Appearance in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between attitude angle number in state angle number and second largest angular interval of attitude angle probability of occurrence is more than third thresholding；If
Judging result is to be in above three judgment step, then it represents that initializes successfully, calculates the maximum angle of attitude angle probability of occurrence
The average value for spending the attitude angle in section is exported as initialization value.
The statistics drops into the attitude angle time in each angular interval in statistics duration in one of the embodiments,
Before the step of float-solution number of number, the fixed solution number of attitude angle and attitude angle further include: by the distributed areas of attitude angle
Multiple angular intervals are divided by preset interval.
The preset interval is 5 degree in one of the embodiments,.
If it is to re-execute the statistics that the judging result of each judgment step, which is not all, in one of the embodiments,
Attitude angle number, the fixed solution number of attitude angle and the floating-point of attitude angle in each angular interval are dropped into statistics duration
The step of solving number.
A kind of attitude angle apparatus for initializing, the attitude angle are course angle, pitch angle or roll angle；It include: system
Unit is counted, for counting the fixed solution of the attitude angle number dropped into each angular interval in statistics duration, attitude angle
Several and attitude angle float-solution number；The attitude angle carries out attitude algorithm according to the GNSS signal received and obtains；Judgement is single
Member, for judging to count fixed solution number and float-solution number in duration in the maximum angular interval of attitude angle probability of occurrence
Whether ratio is more than the first thresholding；The judging unit is also used to judge the maximum angle of attitude angle probability of occurrence in statistics duration
Whether the ratio between total attitude angle number more than the second thresholding in attitude angle number in section and statistics duration, and when judging to count
Attitude angle number and second largest angular area of attitude angle probability of occurrence in long in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between interior attitude angle number is more than third thresholding；And initialization unit, for what is executed in the judging unit
The judging result of each deterministic process is to calculate being averaged for the attitude angle in the maximum angular interval of attitude angle probability of occurrence when being
Value is exported as initialization value.
The statistic unit is also used to divide the distributed areas of attitude angle by preset interval in one of the embodiments,
For multiple angular intervals.
The preset interval is 5 degree in one of the embodiments,.
The statistic unit is also used to each deterministic process executed in the judging unit in one of the embodiments,
Judging result is not all when being, counts the attitude angle number dropped into each angular interval in statistics duration, posture again
The fixed solution number at angle and the float-solution number of attitude angle.
A kind of attitude angle measuring method is measured for the attitude angle to carrier；The attitude angle is course angle, pitching
Angle or roll angle；The described method includes: receiving GNSS signal and carrying out solving of attitude；Attitude angle initialization is carried out,
Fixed solution number and posture including counting the attitude angle number dropped into each angular interval in statistics duration, attitude angle
The float-solution number at angle；Fixed solution number and floating-point in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence
The ratio of number is solved whether more than the first thresholding；Appearance in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between total attitude angle number is more than the second thresholding in state angle number and statistics duration；Attitude angle goes out in judgement statistics duration
Attitude angle number in the angular interval of existing maximum probability and the attitude angle in second largest angular interval of attitude angle probability of occurrence
Whether the ratio between number is more than third thresholding；If judging result is to be in above three judgment step, then it represents that it initializes successfully,
The average value for calculating the attitude angle in the maximum angular interval of attitude angle probability of occurrence is exported as initialization value；According to described first
The attitude angle that beginning value obtains resolving is handled；And the attitude angle obtained after output processing.
A kind of attitude angle device, measures for the attitude angle to carrier；The attitude angle is course angle, pitching
Angle or roll angle；The attitude angle device includes: solving unit, for receiving GNSS signal and carrying out attitude angle solution
It calculates；Attitude angle apparatus for initializing, including statistic unit drop into each angular interval in statistics duration for counting
Attitude angle number, the fixed solution number of attitude angle and the float-solution number of attitude angle；Judging unit, for judging statistics duration
Whether the ratio of fixed solution number and float-solution number in the interior maximum angular interval of attitude angle probability of occurrence is more than first
Limit；The judging unit is also used to judge the attitude angle in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between total attitude angle number is more than the second thresholding in number and statistics duration, and judges to count attitude angle in duration and occur
The attitude angle time in attitude angle number and second largest angular interval of attitude angle probability of occurrence in the angular interval of maximum probability
Whether the ratio between number is more than third thresholding；And initialization unit, each deterministic process for executing in the judging unit are sentenced
Disconnected result is that the average value of the attitude angle in the maximum angular interval of attitude angle probability of occurrence is calculated when being as initialization value
Output；Processing unit, the attitude angle for being obtained according to the initialization value to resolving are handled；And output unit, it uses
The attitude angle obtained after defeated processing.
Above-mentioned attitude angle initial method and device drop into each angular interval in statistics duration by statistics
The fixed solution number of interior attitude angle number, attitude angle and the float-solution number of attitude angle, and posture is judged according to statistical result
Whether the ratio of fixed solution number and float-solution number in the maximum angular interval of angle probability of occurrence is greater than the first thresholding, to protect
Demonstrate,proving has certain fixed solution ratio in the angular interval of maximum probability, avoid being entirely floating-point in the angular interval of maximum probability
Solution.Posture total in attitude angle number and the statistics duration in the maximum angular interval of attitude angle probability of occurrence is also judged simultaneously
Whether the ratio between angle number is greater than the second thresholding, to guarantee there are enough correct results in statistics duration.In initialization procedure, also need
Judge the attitude angle number and second largest angle of attitude angle probability of occurrence in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between attitude angle number in section is greater than third thresholding, to ensure to judge that the angular interval of maximum probability is correct
Solve section.Only the judging result in above-mentioned judgment step is to be, just indicates to initialize successfully, and calculates attitude angle and occur generally
The average value of attitude angle in the maximum angular interval of rate is exported as initialization value, to improve the reliable of initialization procedure
Property.
Above-mentioned attitude angle measuring method and device initialize in above-mentioned attitude angle initial method and device
To after more reliable initialization value, handled using attitude angle of the initialization value to subsequent output, so that it is guaranteed that posture
The attitude angle that angle measuring device measurement obtains accuracy with higher.
Detailed description of the invention
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 structural block diagram of the attitude angle device in an embodiment；
Fig. 4 is the structural block diagram of the attitude angle apparatus for initializing in Fig. 3.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of 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.The attitude angle measuring method can be applied to carry
In body, measured with the attitude angle to carrier.Carrier can be static carrier, or dynamic carrier.For example, carrier can
Think satellite, spacecraft, manned machine and unmanned plane etc..The attitude angle of measurement can be course angle, pitch angle or roll angle.
In the present embodiment, it is illustrated so that attitude angle is course angle as an example.The attitude angle measuring method the following steps are included:
S110 receives GNSS signal and carries out course angle resolving.
It receives GNSS signal and course angle resolving is carried out to it after carrying out respective handling to the GNSS signal, and export resolving
Obtained course angle and resolving state corresponding with the course angle.The resolving state of course angle includes fixed solution and float-solution two
Kind.Course angle solution process can be realized using the existing resolver in this field.
S120 carries out the initialization of course angular measurement.
After attitude angle device in the carrier is opened, and need to carry out before exporting correct course angle for the first time
Course angular measurement initialization, to ensure to measure obtained course angle for correct course angle.The detailed process of the step such as Fig. 2 institute
Show, including following sub-step.
S210 counts the fixed solution of the course angle number, course angle that are dropped into each angular interval in statistics duration
The float-solution number of number and course angle.
In the present embodiment, a statistics duration can be preset, to count the distribution situation of the course angle in the duration.Specifically
The distributed areas of course angle first can be divided into multiple angles according to preset interval before statistics (namely before S210) by ground
Section.For example, 360 degree of course angular zones can be divided into multiple angular intervals by predetermined angle interval.Predetermined angle interval
Can precision according to actual needs be adjusted.In the present embodiment, preset interval is 5 degree, also i.e. by 360 degree of courses angular region
Domain is divided into 72 angular intervals.Statistics drops into the course angle number of each angular interval in statistics duration, and unites respectively
Meter drops into the fixed solution number and float-solution number of the course angle in each angular interval.According to the course of each angular interval
Angle number is statistics available to be gone out to count course angle number total in duration.Also, according to the course angle number of each angular interval
Determine the maximum angular interval of course angle probability of occurrence and second largest angular interval.Statistics duration, which can according to need, to be set
It is fixed, it usually needs to be greater than 30 seconds.
S220 judges to count the fixed solution number and float-solution in duration in the maximum angular interval of course angle probability of occurrence
Whether the ratio of number is more than the first thresholding.
Pass through the fixed solution number and float-solution in the maximum angular interval of course angle probability of occurrence in judgement statistics duration
Whether the ratio of number is more than the first thresholding, it can be ensured that the angular interval of maximum probability has certain fixed solution ratio, prevents
It is only entirely float-solution.The precision of float-solution is lower than the precision of fixed solution, consolidating in the angular interval by ensuring maximum probability
Surely ratio is solved, it can be ensured that the accuracy of initialization value improves the reliability of initialization.First thresholding can according to need progress
Setting.In the present embodiment, the first thresholding is greater than 0.3.If judging result be it is no, return re-execute S210, if judgement knot
Fruit be it is yes, then continue to execute subsequent step.
S230, when judging to count the course angle number and statistics in duration in the maximum angular interval of course angle probability of occurrence
Whether the ratio between total course angle number is more than the second thresholding in long.
When by the course angle number in the maximum angular interval of course angle probability of occurrence in judgement statistics duration and counting
Whether total course angle number is prepared more than the second thresholding in long, it can be ensured that in statistics duration in the angular interval of maximum probability
There are enough course angle numbers, and then ensure there are enough correct results in statistics duration, prevents only a small number of correct results
It happens, and then improves the reliability of initialization.Second thresholding, which equally can according to need, to be set.In the present embodiment
In, the second thresholding is greater than 0.67.If judging result be it is no, return execute S210, if so, execute subsequent step.
S240 judges to count course angle number and course angle in duration in the maximum angular interval of course angle probability of occurrence
Whether the ratio between course angle number in second largest angular interval of probability of occurrence is more than third thresholding.
Pass through the course angle number and course angle in the maximum angular interval of course angle probability of occurrence in judgement statistics duration
Whether the ratio between course angle number in second largest angular interval of probability of occurrence is more than third thresholding, it can be ensured that maximum probability area
Between and the second largest probability interval it is respective sum difference it is sufficiently large, judge that the angular interval of maximum probability is positive with relatively reliable
Really solution section.Third thresholding, which equally can according to need, to be set.In the present embodiment, third thresholding is less than 0.5.If judgement
As a result be it is no, then return execute S210, if so, execute subsequent step.In the present embodiment, between S220, S230 and S240
Sequence can mutually exchange, there is no strict sequences, can also pass through multiprocessor synchronization process.
S250, the average value for calculating the course angle in the maximum angular interval of course angle probability of occurrence are defeated as initialization value
Out.
Under the premise of only the judging result in tri- judgment steps of S220, S230 and S240 is to be, just it can consider
It initializes successfully.At this point, calculating the average value of the course angle in the maximum angular interval of course angle probability of occurrence as initialization
Value output.After above-mentioned course angular measurement initial method, the reliability of initialization is higher.By using probability statistics model
Complete course angle initialization, this method in bad environments or GNSS signal by under certain disturbed condition, it is still with higher
Reliability.
S130 is handled according to the course angle that the initialization value obtains resolving.
After exporting initialization value, the course angle of subsequent output can be handled.Specifically, using filtering algorithm and benefit
It is handled with the original course angle that obtained initialization value obtains resolving, so that processing obtains more accurate course angle.
The reliability of the initialization value as used in filtering algorithm is higher, it can be ensured that the course angle handled standard with higher
Exactness.
S140, the course angle obtained after output processing.
Measurement method when attitude angle is pitch angle or roll angle is identical with the measurement method of course angle.
Above-mentioned attitude angle measuring method will do it initialization before exporting attitude angle.Initialization procedure is being united by statistics
Attitude angle number, the fixed solution number of attitude angle and the float-solution of attitude angle in each angular interval are dropped into timing is long
Number, and fixed solution number in the maximum angular interval of attitude angle probability of occurrence and float-solution number are judged according to statistical result
Whether ratio is greater than the first thresholding, to have certain fixed solution ratio in the maximum angular interval of guarantee probability, avoids probability
It is entirely float-solution in maximum angular interval.The posture in the maximum angular interval of attitude angle probability of occurrence is also judged simultaneously
Whether the ratio between attitude angle number in angle number and statistics duration is greater than the second thresholding, with guarantee to have in statistics duration it is enough just
True result.In initialization procedure, it is also necessary to judge the attitude angle number and appearance in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between attitude angle number in second largest angular interval of state angle probability of occurrence is greater than third thresholding, to ensure to judge
Maximum probability section is correct solution section.Only the judging result in above-mentioned judgment step is to be, just indicates to initialize successfully,
And the average value for calculating the attitude angle in the maximum angular interval of attitude angle probability of occurrence is exported as initialization value, to 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 initialization, can improve in the case where bad environments or GNSS signal are by certain disturbed condition
Measurement initialization reliability, thus at the beginning of solving the attitude angle when GNSS satellite quantity is few within sweep of the eye or is interfered
The problem of beginningization time length and easy initialization error.
Fig. 3 is the structural block diagram of the attitude angle device in an embodiment.The attitude angle device can be applied to
In carrier, measured with the attitude angle to carrier.The attitude angle of measurement can be course angle, pitch angle or roll angle.?
In the present embodiment, it is illustrated by taking course angle as an example.At the beginning of the attitude angle device includes solving unit 310, attitude angle
Begin to disguise and sets 320, processing unit 330 and output unit 340.
Solving unit 310 is 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, such as
Shown in Fig. 4.Statistic unit 410 is used to count the course angle number dropped into each angular interval in statistics duration, course
The fixed solution number at angle and the float-solution number of course angle.In the present embodiment, statistic unit 410 is before executing statistics, also
The distributed areas of course angle first can be divided into multiple angular intervals by predetermined angle interval.It predetermined angle interval can be according to reality
The precision that border needs is adjusted.In the present embodiment, preset interval is 5 degree.Statistics duration can be set as needed, usually
It needs to be greater than 30 seconds.Judging unit 420 is used to judge to count consolidating in the maximum angular interval of course angle probability of occurrence in duration
Surely whether the ratio of number and float-solution number is solved more than the first thresholding.Judging unit 420 is also used to judge boat in statistics duration
Whether total the ratio between course angle number surpasses in course angle number and statistics duration into the maximum angular interval of angle probability of occurrence
The second thresholding is crossed, and judges to count the course angle number and course angle in duration in the maximum angular interval of course angle probability of occurrence
Whether the ratio between course angle number in second largest angular interval of probability of occurrence is more than third thresholding.Initialization unit 430 is used for
When judging result in the above three deterministic process that judging unit 420 executes is to be, course angle probability of occurrence is calculated most
The average value of course angle in big angular interval is exported as initialization value.Statistic unit 430 is also used in judging unit 420
Judging result in the above three deterministic process of execution is not all when being, is counted again and is dropped into each angle in statistics duration
Course angle number, the fixed solution number of course angle and the float-solution number of course angle in section are spent, to be initialized again,
Until initializing successfully.
The initialization value that processing unit 330 is used to be obtained according to initialization unit 430 is to the subsequent course angle for resolving and obtaining
It is handled.
Course angle of the output unit 340 for being obtained after output processing.
Above-mentioned attitude angle device will do it initialization before exporting course angle.Initialization procedure is being united by statistics
Attitude angle number, the fixed solution number of attitude angle and the float-solution of attitude angle in each angular interval are dropped into timing is long
Number, and fixed solution number in the maximum angular interval of attitude angle probability of occurrence and float-solution number are judged according to statistical result
Whether ratio is greater than the first thresholding, to have certain fixed solution ratio in the maximum angular interval of guarantee probability, avoids probability
It is entirely float-solution in maximum angular interval.The posture in the maximum angular interval of attitude angle probability of occurrence is also judged simultaneously
Whether the ratio between attitude angle number in angle number and statistics duration is greater than the second thresholding, with guarantee to have in statistics duration it is enough just
True result.In initialization procedure, it is also necessary to judge the attitude angle number and appearance in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between attitude angle number in second largest angular interval of state angle probability of occurrence is greater than third thresholding, to ensure to judge
Maximum probability section is correct solution section.Only the judging result in above-mentioned judgment step is to be, just indicates to initialize successfully,
And the average value for calculating the attitude angle in the maximum angular interval of attitude angle probability of occurrence is exported as initialization value, to 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 initialization, can improve in the case where bad environments or GNSS signal are by certain disturbed condition
Measurement initialization reliability, thus at the beginning of solving the attitude angle when GNSS satellite quantity is few within sweep of the eye or is interfered
The problem of beginningization time length and easy initialization error.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (8)
1. a kind of attitude angle initial method, the attitude angle is course angle, pitch angle or roll angle；Its feature exists
In, which comprises
Count the fixed solution number and posture of the attitude angle number, attitude angle that are dropped into each angular interval in statistics duration
The float-solution number at angle；The attitude angle carries out attitude algorithm according to the GNSS signal received and obtains；
The ratio of fixed solution number and float-solution number in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence
Whether example is more than the first thresholding；
In attitude angle number and statistics duration in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence always
Whether the ratio between attitude angle number is more than the second thresholding；
Attitude angle number and attitude angle probability of occurrence in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between attitude angle number in second largest angular interval is more than third thresholding；
If judging result is to be in above three judgment step, then it represents that initialize successfully, calculate attitude angle probability of occurrence most
The average value of attitude angle in big angular interval is exported as initialization value；
If it is to re-execute the statistics to drop into each angle in statistics duration that the judging result of each judgment step, which is not all,
Spend section in attitude angle number, attitude angle fixed solution number and attitude angle float-solution number the step of.
2. the method according to claim 1, wherein the statistics drops into each angular area in statistics duration
In attitude angle number, attitude angle fixed solution number and attitude angle float-solution number the step of before further include: by appearance
The distributed areas at state angle are divided into multiple angular intervals by preset interval.
3. according to the method described in claim 2, it is characterized in that, the preset interval is 5 degree.
4. a kind of attitude angle apparatus for initializing, the attitude angle is course angle, pitch angle or roll angle；Its feature exists
In, comprising:
Statistic unit, for count drop into statistics duration attitude angle number in each angular interval, attitude angle is consolidated
Surely the float-solution number of number and attitude angle is solved；The attitude angle carries out attitude algorithm according to the GNSS signal received and obtains；
Judging unit, for judging to count the fixed solution number in duration in the maximum angular interval of attitude angle probability of occurrence and floating
Whether the ratio of point solution number is more than the first thresholding；The judging unit is also used to judge attitude angle probability of occurrence in statistics duration
Whether the ratio between total attitude angle number more than the second thresholding in attitude angle number in maximum angular interval and statistics duration, and
Attitude angle number and attitude angle probability of occurrence second in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between attitude angle number in big angular interval is more than third thresholding；And
When the judging result of initialization unit, each deterministic process for executing in the judging unit is to be, posture is calculated
The average value of attitude angle in the maximum angular interval of angle probability of occurrence is exported as initialization value；
The statistic unit is also used to when the judging result for each deterministic process that the judging unit executes, which is not all, is, again
It counts in the fixed solution number and attitude angle for counting the attitude angle number, attitude angle that are dropped into each angular interval in duration
Float-solution number.
5. attitude angle apparatus for initializing according to claim 4, which is characterized in that the statistic unit be also used to by
The distributed areas of attitude angle are divided into multiple angular intervals by preset interval.
6. attitude angle apparatus for initializing according to claim 5, which is characterized in that the preset interval is 5 degree.
7. a kind of attitude angle measuring method is measured for the attitude angle to carrier；The attitude angle is course angle, pitch angle
Or roll angle；It is characterized in that, which comprises
It receives GNSS signal and carries out solving of attitude；
Attitude angle initialization is carried out, including
Count the fixed solution number and posture of the attitude angle number, attitude angle that are dropped into each angular interval in statistics duration
The float-solution number at angle；
The ratio of fixed solution number and float-solution number in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence
Whether example is more than the first thresholding；
In attitude angle number and statistics duration in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence always
Whether the ratio between attitude angle number is more than the second thresholding；
Attitude angle number and attitude angle probability of occurrence in judgement statistics duration in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between attitude angle number in second largest angular interval is more than third thresholding；
If judging result is to be in above three judgment step, then it represents that initialize successfully, calculate attitude angle probability of occurrence most
The average value of attitude angle in big angular interval is exported as initialization value；
If it is to re-execute the statistics to drop into each angle in statistics duration that the judging result of each judgment step, which is not all,
Spend section in attitude angle number, attitude angle fixed solution number and attitude angle float-solution number the step of；
It is handled according to the attitude angle that the initialization value obtains resolving；And
The attitude angle obtained after output processing.
8. a kind of attitude angle device, measures for the attitude angle to carrier；The attitude angle is course angle, pitch angle
Or roll angle；It is characterized in that, the attitude angle device includes:
Solving unit, for receiving GNSS signal and carrying out solving of attitude；
Attitude angle apparatus for initializing, including
Statistic unit, for count drop into statistics duration attitude angle number in each angular interval, attitude angle is consolidated
Surely the float-solution number of number and attitude angle is solved；
Judging unit, for judging to count the fixed solution number in duration in the maximum angular interval of attitude angle probability of occurrence and floating
Whether the ratio of point solution number is more than the first thresholding；The judging unit is also used to judge in judgement statistics duration that attitude angle occurs
Whether the ratio between total attitude angle number is more than second in attitude angle number and statistics duration in the angular interval of maximum probability
Limit, and judge to count attitude angle number and attitude angle probability of occurrence in duration in the maximum angular interval of attitude angle probability of occurrence
Whether the ratio between attitude angle number in second largest angular interval is more than third thresholding；And
When the judging result of initialization unit, each deterministic process for executing in the judging unit is to be, posture is calculated
The average value of attitude angle in the maximum angular interval of angle probability of occurrence is exported as initialization value；
The statistic unit is also used to when the judging result for each deterministic process that the judging unit executes, which is not all, is, again
It counts in the fixed solution number and attitude angle for counting the attitude angle number, attitude angle that are dropped into each angular interval in duration
Float-solution number；
Processing unit, the attitude angle for being obtained according to the initialization value to resolving are handled；And
Output unit, the attitude angle for being obtained after defeated processing.
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| GB2387727A (en) * | 2002-02-12 | 2003-10-22 | Furuno Electric Co | Attitude angle detecting apparatus |
| CN103245963A (en) * | 2013-05-09 | 2013-08-14 | 清华大学 | Double-antenna GNSS/INS deeply integrated navigation method and device |
| CN104237918A (en) * | 2013-06-13 | 2014-12-24 | 成都国星通信有限公司 | Method for determining carrier phase integer ambiguity in satellite navigation |
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| CN103017765B (en) * | 2012-12-06 | 2015-05-27 | 北京遥测技术研究所 | Yaw angle correction method and yaw angle correction device applied to a micro-mechanical integrated navigation system |
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| GB2387727A (en) * | 2002-02-12 | 2003-10-22 | Furuno Electric Co | Attitude angle detecting apparatus |
| CN103245963A (en) * | 2013-05-09 | 2013-08-14 | 清华大学 | Double-antenna GNSS/INS deeply integrated navigation method and device |
| CN104237918A (en) * | 2013-06-13 | 2014-12-24 | 成都国星通信有限公司 | Method for determining carrier phase integer ambiguity in satellite navigation |
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