JP2001281317A - Movable body attitude measurement system and plural antenna arrangement structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To quickly decide an integer bias causing a problem in use of carrier wave phase. SOLUTION: To a reference antenna 11a, an observation antenna 11d is arranged on a short base line 13, while an observation antenna 11b of a long base line 11 is arranged on the extension of the observation antenna 11d. An observation antenna 11c is arranged in the end of a short base line 12 at an angle α different from that for the base lines 11, 13. Using the short base lines 13, 12 directed in the different directions, a calculation quantity and a time required until the decision of an actual integer bias can be reduced, and the attitude angle of a movable body can be accurately decided by using the long base line 11.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving body attitude measuring system mounted on a moving body such as a ship or a vehicle.
More specifically, the present invention is applied to a mobile body attitude measurement system that calculates the attitude angle of the mobile body with high accuracy using a carrier wave transmitted from a positioning satellite such as a GPS satellite, and the mobile body attitude measurement system. It relates to a multiple antenna arrangement structure.

[0002]

2. Description of the Related Art In the RTK (Real Time Kinematic) system, a positioning position is obtained by using a difference in a carrier phase of a radio wave transmitted from a positioning satellite such as a GPS satellite to the ground.

In the positioning by the RTK method, it is possible to obtain a positioning result with higher accuracy as compared with a single positioning using a pseudo-code distance between a positioning satellite and an observation point. The reason is that the pseudo-range used for single positioning uses a code phase of about 300 m wavelength,
The carrier used for positioning by the RTK method has a wavelength of about 1
It is as short as 9 cm. In order to obtain the attitude angle with high accuracy, high-precision positioning is first required. Therefore, the RTK method is used in the attitude angle measurement system.

[0004] When the positioning is performed by the RTK method, a highly accurate positioning result can be obtained, but a problem arises due to the use of a carrier having a short wavelength. The problem is that, at a certain time, many points are three-dimensionally in phase with the true solution, that is, multiple solutions occur. It takes a lot of calculation time to determine the true solution (integer value bias) from the multiple solutions. Therefore, it is generally not easy to determine the true integer value bias.

The following describes what a multiple solution is like. For the sake of simplicity, it is represented by a one-dimensional diagram.

FIG. 6 shows the same phase appearing on the base line due to the single phase difference of the carrier transmitted from the positioning satellite. With respect to the true solution F of the observation antenna, there are many other solution candidates having the same phase (solution candidates A to E). If the baseline is longer than one wavelength, there are some other candidates on the baseline, but if the baseline length, which is the length of the baseline between the reference antenna position and the observation antenna position, is given in advance, the solution candidate B, C, D, and E can be discarded from solution candidates because they are shorter than the base line length. However, since the solution candidate A having the same length as the true value F has the same base line length, it cannot be distinguished as it is.

As the position of the positioning satellite changes, the position (coordinate value) of the multiple solution also moves, but since the position of the true solution does not change over time, the movement of the positioning satellite is continued. By observing and waiting until the positional relationship between the positioning satellite and the baseline has sufficiently changed, a point that does not change over time can be determined as a true solution. Until the position change becomes large, it is necessary to continuously track the positioning satellite for several tens of minutes.

Conversely, when the base line length is sufficiently short, for example, less than 1/2 wavelength, a true solution F can be immediately determined as shown in FIG. Each adjacent solution candidate ABCDEF corresponds to a length of one wavelength.

Although the above is a principle explanation, since a different receiver must be used for each antenna, in order to remove the influence of a difference in characteristics between the respective receivers, RT
In the K system, the difference A in the carrier phase of a certain satellite received by two receivers at the same time (referred to as a single phase difference between receivers).
(B) between a carrier phase difference B (single phase difference between receivers) received by the two receivers at the same time from another satellite.
-A) is used. Therefore, in the actual positioning device using the RTK method, in order to determine the true solution F, the base line length is set to 1 due to the use of the double phase difference.
It is necessary to set the wavelength to not more than 波長 wavelength and not more than １ ／ wavelength.

Conventionally, as a moving object attitude measuring system for obtaining an azimuth angle and an attitude angle using a GPS positioning satellite or the like, as shown in FIG. 8, four antennas 1a, 1b, There is a mobile body posture measurement system that is installed at equal intervals on a long baseline {baseline 1 (baseline length L1), baseline 2 (baseline length L2)} that intersects at right angles using 1c and 1d. This moving body posture measurement system is used for accurately obtaining a three-dimensional posture (azimuth, roll, pitch) such as an airplane, but is redundant for a moving body such as a vehicle that mainly requires only the azimuth. It is hardly used because there is.

[0011] In the case of a vehicle such as a vehicle that mainly requires an azimuth, the antennas 1a, 1a,
A moving body posture measurement system for arranging b is common.

[0012]

Although positioning with the RTK method can provide high-precision positioning results, the use of a carrier having a short wavelength causes the problem of multiple solutions, as described above. Since it takes a lot of calculation time to determine the true solution (true integer value bias) from multiple solutions,
Determining the true integer bias is generally not easy.

If the movement of the positioning satellite is continuously measured and it is waited until the positional relationship between the positioning satellite and the base line has sufficiently changed, it can be determined that the point that does not change over time is an integer value bias. However, for that purpose, continuous tracking must be performed for several tens of minutes until the position change of the positioning satellite becomes large.

Considering the case of a moving object, for example, a car as an example, in a city area, radio waves are frequently shielded by buildings and the like, so that it is often impossible to continuously track a positioning satellite. Therefore, in the conventional attitude measurement system using the long baselines 1 and 2 shown in FIGS. 8 and 9, a situation occurs in which the integer value bias cannot be determined, and the attitude angle cannot be obtained for a long time. was there.

Conversely, if the base line length is sufficiently short, for example, １ ／ wavelength or less, the time required to determine the true integer value bias is shortened. Since the obtained positioning position accuracy has a large influence on the posture angle accuracy, there is a disadvantage that the posture angle cannot be obtained with high accuracy, and thus it has not been used as an actual posture measurement system.

For this reason, although not actually commercialized, as shown in FIG. 10, by using a plurality of antennas 1a, 1b, 1c, and 1d on a single base line, short base lines 1, 2, and Long baseline 3 (baseline lengths are L1, L2, L
An attitude measurement system combining 3) has been proposed.

FIG. 11 shows the positions of the carrier in-phase, the base line, and the integer bias on a plane. The short base lines 1 and 2 and the long base line 3 shown in FIG. The measurement principle of the combined posture measurement system will be described.

First, an integer value bias (an integer value bias of the base line 1) is determined for the short base line 1 (base line between the reference antenna 1a and the observation antenna 1b in FIG. 10) whose base line length is 1/4 wavelength or less. I do.

As described above, if the base line length is 1/4 wavelength or less, there is only one integer value bias candidate, so that it can be determined immediately. The posture angle of the short base line 1 is calculated with coarse accuracy from the determined integer bias of the short base line 1 and is finally obtained in the range within the sector indicated by the one-dot chain line opened at the angle θ1 in FIG. It is possible to narrow the range of the integer value bias candidate of the long base line 3 (the reference antenna 1a and the observation antenna 1d in FIG. 10). However, if it is desired to accurately determine the attitude angle, for example, if the position accuracy is set to 1 to 2 [cm] for the above-described reason, if the angle accuracy is to be obtained within 1 degree as generally required, Since the base line length is required to be 1 m or more and tens of times longer than a quarter wavelength (0.05 m for the GPS positioning system), as shown in FIG.
1, a plurality of integer value bias candidates B and C exist in addition to the true candidate (true integer value bias) A within the range limited to the dashed line in FIG. I can't decide.

Therefore, the short base line 2 having the intermediate base line length L2 (the reference antenna 1a and the observation antenna 1c in FIG. 10)
Is used. In the case of the short base line 2, as the integer value bias candidates, there are solution candidates E and F in addition to the true solution candidate D. However, since only the true solution candidate D exists within the range limited to the dashed line opened to the angle θ1 by the short baseline 1, it is possible to immediately determine the integer bias of the short baseline 2 to the true solution D. it can.

When the integer bias of the short base line 2 is determined to be the true solution D, the range of the integer bias candidate of the long base line 3 to be finally obtained is narrowed within the range of the broken line opened at the angle θ2. be able to. Due to the true integer value bias of the long base line 3, the posture angle can be calculated more accurately than the short base line 1 because the base line is long.

In this case, since only the true solution A exists in the range limited by the short base line 2 within the broken line of the angle θ2, the integer value A of the long base line 3 can be determined. FIG.
In the example of FIG. 11 and the example of FIG. 11, in order to easily understand the concept of finding the true solution, only one antenna 1c for the base line 2 having the intermediate base line length L2 is required. Is set to 1 to 2 [cm], if the angle accuracy is to be obtained within 1 degree, the baseline length L3 of the baseline 3 is 1 m
As described above, it is necessary to set the length to several tens of times the quarter wavelength (0.05 m for GPS). For this reason, in practice, the antenna having the intermediate baseline length has the antenna 1 shown in FIG. 10 so that only true candidates exist at each baseline length.
Two or more antennas to be arranged as the intermediate base line length L2 such as c are required.

In the attitude angle measuring system shown in FIG. 10, the length of the shortest base line 1 must be set to 1/4 wavelength or less.
This has a disadvantage that an antenna with a ground plane having a length of several wavelengths or more, which is used as a measure against carrier multipath, cannot be used. Further, even if the ground plane is shared, there is a disadvantage in that accuracy is deteriorated due to interference between antennas caused by bringing the antennas close to each other, and in some cases, a true integer value bias is erroneously determined. In addition, there is usually a disadvantage that more than five antennas and five or more receiving devices are required and the cost is high.

The present invention has been made in consideration of such a problem, and enables a true integer value bias to be obtained easily and in a short time, and calculates a posture angle of a moving body with high accuracy. It is an object of the present invention to provide a mobile body posture measurement system capable of performing such operations.

Another object of the present invention is to provide a multi-antenna arrangement structure capable of finding a true integer value bias easily and in a short time.

[0026]

SUMMARY OF THE INVENTION The present invention relates to a mobile attitude measuring system which receives a satellite signal transmitted from a positioning satellite and measures an attitude angle. An observation antenna, a second observation antenna extending from the reference antenna, arranged at a short base line end shorter than the long base line and having a different direction, and the reference antenna and the first and second observation antennas. From the satellite signals received through the satellite signal, and among the calculated solution candidates, an integer for determining a true integer value bias based on the long base line length, the short base line length, and the angle between the base line lengths. Numerical bias determining device, and a posture angle calculating device that calculates a posture angle of the moving object based on the determined true integer value bias and a carrier phase obtained between the long baseline ends. To (the invention according to claim 1).

According to the present invention, by using the long base line and the short base line having different directions, the amount of calculation and the time required to determine the true integer value bias can be reduced, and the posture angle can be calculated. Since a long base line can be used, the accuracy of the attitude angle does not deteriorate.

In this case, furthermore, by providing a short base line coaxially with the long base line and using two short base lines having different directions, the amount of calculation and the time required to determine the true integer value bias can be further reduced. By using the long baseline for calculating the attitude angle, the time required to determine the true integer value bias can be shortened without deteriorating the accuracy of the attitude angle. 2).

According to the present invention, in a multiple antenna arrangement structure for receiving a satellite signal transmitted from a positioning satellite and calculating a true integer value bias, a reference antenna disposed at an end of a long base line and a first antenna are provided. And a second observation antenna extending from the reference antenna and arranged at a short base line end that is shorter than the long base line and has a different direction from the long base line (the invention according to claim 3). ).

According to the present invention, by using the long base line and the short base line in different directions, it is possible to reduce the amount of calculation and the time required to determine the true integer value bias.

Also in this case, by providing a short base line coaxially with the long base line and using two short base lines having different directions, the amount of calculation and the time required to determine the true integer value bias can be reduced. By using the long base line, the accuracy of the attitude angle can be maintained (the invention according to claim 4).

[0032]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Before describing an embodiment of the present invention, the principle of the present invention will be described first. In the following description, the long base line refers to, for example, a length at which an antenna can be installed on a mobile object and a desired sufficient attitude angle accuracy is obtained.The short base line is shorter than the long base line. When the wavelength of a carrier wave of a satellite signal from a positioning satellite such as a GPS satellite is λ, the length is within a few wavelengths (λ).

In the present invention, as shown in FIG. 1, a long base line (also simply referred to as a base line) 11 having a length extending from the reference antenna 11a (base line length L11: known), and a length of the long base line 11 are shown. A short base line (simply referred to as a base line) 12 having a short length (base line length L12: known) is arranged at an angle α (known) that is a different azimuth, and the other end of the long base line 11 and the short base line 12 At the other end, the first and second
Of the observation antennas 11b and 11c are arranged. The direction of the opening of the angle α is, as indicated by the arrow, from the base line 11 to the base line 12.
It is the direction toward the side.

Here, in order to facilitate understanding of the present invention, it is assumed in FIG. 1 that the length of the long base line 11 is also the same as that of the short base line 12, and that the long base line 11 and the short base line 12 Are the same base line length (L11 = L12). In order to avoid confusion, in the following description of the principle, they will be referred to as a baseline 11 and a baseline 12.

Referring now to FIG. 2, a description will be given of the principle by which a true integer value bias is quickly obtained from the base lines 11 and 12, which are assumed to be short base lines having different angles.

For the sake of explanation of the principle, in FIG. 2 in which the base lines 11 and 12 are shown on the same plane, a solution candidate for the base line (also referred to as a base line vector) 11 is a true solution candidate (also referred to as an integer value bias). ) 7a, there are solution candidates (integer value bias) 7b and 7c. Solution candidates 7a, 7b, 7c
Are two solid lines having the same phase as the base line 11 and a circle 32 whose center is the reference antenna 11a and whose radius is the length of the base line 11.
At the intersection of

Similarly, the solution candidates (true solution candidates 7d, 7e, and 7f) for the base line 12 whose base angle is changed by the angle α (similarly referred to as the base line vector) are obtained by changing the angle by the angle α. Two dotted lines having the same phase as the base line 12,
It is located at the intersection of a circle 132 centered on the reference antenna 11a and having a radius equal to the length of the base line 12 (in this case, the circle is the same as the circle 32 because L11 = L12 is assumed).

In principle, a combination of the solution candidate 7a and the solution candidates 7e and 7f {for example, the solution candidate (7
a, 7e), (7a, 7f)｝ and the like exist, but since they are obviously significantly different from the known baseline angle α, they cannot be solution candidates. Solution candidates (7a, 7d), (7b, 7e), (7
Consider c, 7f).

True solution candidate (also simply referred to as true solution)
In the angle 8a between the base lines between (7a, 7d), the angle and the direction of the opening coincide with the angle α between the base lines shown in FIG.

On the other hand, the angle 8b of the solution candidate (7b, 7e) is an erroneous solution candidate because the direction of opening coincides but does not coincide with the true inter-baseline angle α. Similarly, in the solution candidates (7c, 7f), both the direction of opening and the angle 8c between base lines do not match the true direction of opening and the true angle α between base lines.

As described above, the true integer value biases 7a and 7d can be uniquely and rapidly determined from the base lines 11 and 12, which are assumed to be short base lines having different angles.

In principle, even when the base line length is longer than one wavelength, a true solution candidate can be obtained in the same manner.
When the base line length becomes longer, the integer value bias candidates existing on the circle having the base line length as the radius increase, so that the angle difference between the true candidates and the angle difference between the erroneous candidates become smaller.
Preferably, one of the base lines is a short base line.

Therefore, according to the present invention, as shown in FIG. 1, one of the base lines 12 having the base line length L12 is a short base line, and the other base line 11 having the base line length L11 is a long base line. By observing both the baselines 11 and 12 at the same time, a solution candidate can be immediately determined.

Therefore, according to the arrangement of the present invention, FIG.
For example, in the arrangement according to the related art shown in the example of FIG. 9, a solution candidate that could not be obtained in a short time can be quickly determined in a short time. Also, since at least one of the base lines is a long base line, unlike the short base line, there is a sufficient base line length for obtaining a high posture angle accuracy, so that the deterioration of the posture angle accuracy does not occur.

In addition, in the arrangement according to the prior art shown in FIG. 10, the base line length L1 of the base line 1, which is the shortest base line length, is 1 /
Although the wavelength must be four wavelengths or less, in the present invention, by using the base lines having different angles, it is not always necessary to narrow down the integer bias candidates to one in the short base line. Can also be configured with a minimum of three (the reference antenna 11a, the first and second observation antennas 11b and 11c).

The preceding is an explanation of the principle of the present invention.

Next, an embodiment of the present invention to which the above principle is applied will be described.

As the antenna arrangement structure 40, the above-described arrangement example 40 of FIG. 1 is employed. That is, a long base line 11 for measuring the attitude angle (base line length L11) is provided between the reference antenna 11a and the observation antenna 11b, and the reference antenna 11a and the observation antenna 11 opened from the long base line 11 by an angle α.
The interval between c is a short base line 12 (base line length L12).

The length of the base line 11 and the base line 12 (base line length L11
And the base line length L12) and the angle α are known and can be measured.

FIG. 2 shows a configuration of a moving body posture measuring system 20 according to this embodiment employing the arrangement of FIG. Note that this mobile body posture measurement system 20
Is mounted on a moving body such as a vehicle or a ship (not shown).

In FIG. 2, a GPS satellite, GLONAS
The reference antenna 11a and the observation antennas 11b and 11c that receive satellite signals transmitted from positioning satellites such as the S satellite are:
Each is connected to the input terminals of the satellite signal receiving devices 22a, 22b, 22c.

The output terminal of the satellite signal receiving device 22a is connected to one of the input terminals of the integer value bias candidate calculating devices 24b and 24c, respectively.
5 input terminals.

The output terminals of the satellite signal receivers 22b and 22c are connected to integer value bias candidate calculators 24b and 2b, respectively.
4c is connected to the other input terminal. In this case, the output terminal of the satellite signal receiving device 22b related to the long baseline 11 is also connected to the input terminal of the attitude angle computing device 25.

Integer value bias candidate calculation devices 24b, 24
The output terminal of c is connected to the input terminal of the integer value bias determining device 26.

The output terminal of the integer value bias determination device 26 is connected to the input terminal of the attitude angle calculation device 25, and this attitude angle calculation device 25 is connected to the true integer value bias determined by the integer value bias determination device 26. Based on the carrier phase obtained between the ends of the long base line 11, the posture angle of the moving body on which the moving body posture measurement system 20 is mounted (specifically,
The azimuth, pitching angle, rolling angle, and other calculated values. ) Is calculated. From the output terminal of the attitude angle calculation device 25, the calculated attitude angle and the like are output.

Next, the operation of the moving object measuring system 20 configured as shown in FIG. 3 will be described.

The satellite signal receivers 22a to 22c respectively include a reference antenna 11a and observation antennas 11b and 11c.
The satellite signal from the positioning satellite obtained through the above is received, and the received data such as the carrier wave phase is converted to an integer value bias candidate calculating device
b, 24c.

The integer value bias candidate calculating devices 24b and 24
c is obtained from the obtained reception data and the known length L11 of the long base line 11 and the length L12 of the short base line 12 and the angle α, as described with reference to FIG.
A plurality of integer value bias candidates 7a to 7c and the like and the baseline vector candidates in 1 and 12 are calculated and output to the integer value bias determination device 26. In this case, since the base line 11 is the long base line 11, the number of intersections (integer value bias candidates) of the circle having the same phase as the long base line 11 and the radius of the length of the long base line 11 is larger than that in the example of FIG. Become.

The following processing is performed in the integer value bias determining device 26. That is, for all combinations of the baseline vector candidate of the long baseline 11 and the baseline vector candidate of the short baseline 12, the angle between the baseline vector candidates is determined, and the angle matches the angle α between the known baselines 11 and 12. Is checked, and candidate pairs that do not match the angle α are excluded from the integer value bias candidates. By this processing, the number of candidates (the number of candidate pairs) matching the angle α is 1
When they come together, this is the true solution. Then, an integer value bias of the long baseline 11 for posture angle measurement is determined from the longer baseline vector candidate among the baseline vector candidates as one candidate pair that is a true solution, and the bias is output to the posture angle computing device 25. I do.

If the integer value bias cannot be determined in the integer value bias candidate determination device 26, such as when the number of integer value bias candidates cannot be reduced to one, the integer value bias is converted to the attitude angle calculation device 25. May not be output, or a flag indicating whether or not the calculation was correctly performed may be output instead.

When the integer value bias of the long base line 11 for attitude angle measurement is output from the integer value bias determination device 26, the attitude angle calculation device 25 determines the integer value bias and the positioning connected to the reference antenna 11a. Satellite signal receiver 22
Based on a and received data such as carrier phase data obtained from the positioning satellite signal receiving device 22b connected to the observation antenna 11b, the attitude angle is calculated and output to the outside.

Since the integer bias during continuous tracking does not change, if the positioning satellite for which the integer bias has been determined once by the integer bias determining device 26 is continuous tracking, the integer bias determining device will be used. Even when an integer bias is not output from 26, it is used for the attitude angle calculation.

For the positioning satellites that cannot be continuously tracked, the attitude angle calculator 25 does not use them for the attitude angle calculation until the integer value bias candidate determiner 26 determines the integer value bias. If the attitude angle is not correctly obtained, the attitude angle is not output to the outside, or a flag indicating whether the attitude angle is correct is output.

FIG. 4 is a diagram showing an antenna arrangement structure according to another embodiment, and FIG. 5 is a block diagram of a mobile posture measurement system 30 according to another embodiment using the antenna arrangement structure 50 of FIG. Each figure is shown.

In the antenna arrangement structure 50 shown in FIG.
1 is that the third observation antenna 11d is installed between the long base line 11 between the reference antenna 11a and the observation antenna 11b, and the short base line 13 of one wavelength or less is added. Different from structure 40. Note that the base length L13 of the short base line 13 may be the same as or different from the base length L12 of the base line 12. When the wavelength of the carrier is λ,
As described above, the length is shorter than the base length L11 of the long base line 11 and is within several wavelengths (λ).

Similarly, in the mobile attitude measurement system 30 of FIG. 5, the satellite signal receiving device 22d connected to the observation antenna 11d and the satellite signal The difference is that an integer bias candidate calculating device 24d that receives the data received from the receiver 22d and the satellite signal receiving device 22a to calculate an integer bias candidate and sends the candidate to the integer bias determining device 26 is newly added. .

According to the configuration of FIGS. 4 and 5, after the integer value bias is determined by the integer value bias determination device 26 using the plurality of short base lines 12 and 13 having different angles, the attitude angle calculation device 25 is used. In, the attitude angle can be obtained from the received data from the satellite signal receiving devices 22a and 22b related to the long baseline 11.

In this manner, as shown in the examples of FIGS. 1 and 3, the long baseline 11 and the short baseline 1
By using a plurality of short baselines (in this case, the short baselines 12 and 13) instead of using 2, the probability that the integer value bias candidates cannot be reduced to one is further compared with the examples in FIGS. 1 and 3. Can be reduced.

Of course, in the antenna arrangement of FIG. 4, the base lines 12 and 13 may have the same or different base line lengths.

As an application to a moving body such as a vehicle, if the short base lines 12 and 13 having different directions are arranged at an angle α = 90 °, the base line in the moving body traveling direction (in this case, the base line A roll angle with respect to the traveling direction is obtained from a base line (in this case, base line 12) arranged at 90 ° to 13). In this way, the roll angle of the moving body can be measured simultaneously.

The present invention is not limited to the above-described embodiment, but can adopt various configurations without departing from the gist of the present invention.

[0072]

As described above, according to the present invention, after determining a true integer value bias using received data of a satellite signal from a positioning satellite, and then determining an attitude angle as necessary, By changing the angle between the long base line and the short base line whose lengths are known, the integer value bias, which is a problem when using the carrier phase, can be determined quickly (in a short time).
It can be carried out. At the same time, the accuracy of the attitude angle can be maintained at a constant accuracy by using the long base line.

Further, by using a plurality of short base lines having different angles, a true integer value bias can be quickly and more reliably obtained.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an antenna arrangement structure according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram for obtaining an integer value bias using a base line having a different angle.

FIG. 3 is a block diagram of a moving body posture measurement system according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram showing an antenna arrangement structure according to another embodiment of the present invention.

FIG. 5 is a block diagram of a moving body posture measurement system according to another embodiment of the present invention.

FIG. 6 is an explanatory diagram of a positional relationship of one-dimensional in-phase with respect to a long base line.

FIG. 7 is an explanatory diagram of a one-dimensional in-phase positional relationship related to a short base line.

FIG. 8 is an explanatory diagram showing a multi-baseline antenna arrangement structure according to the related art.

FIG. 9 is an explanatory view showing two antenna arrangement structures on a single base line according to the related art.

FIG. 10 is an explanatory diagram showing four antenna arrangement structures on a single baseline according to the related art.

FIG. 11 is an explanatory diagram of a positional relationship of one-dimensional in-phase.

[Explanation of symbols]

1a-1d, 11a-11d ... antennas 1, 2, 3, 11, 12, 13, 14 ... baselines 7a-7f ... solution candidates 8a-8c, α
... Baseline angles 20, 30... Moving body posture measurement systems 22a to 22d
... Satellite signal receiving devices 24b, 24c, 24d ... Integer value bias candidate calculating device 25 ... Attitude angle calculating device 26 ... Integer value bias determining device 40, 50 ... Antenna arrangement structure

Claims (4)

[Claims] 1. A mobile attitude measuring system which receives a satellite signal transmitted from a positioning satellite and measures an attitude angle, wherein a reference antenna, a first observation antenna, and a reference antenna respectively arranged at an end of a long base line; A second observation antenna extending from the short base line, which is shorter than the long base line and has a different direction from the long base line, and a satellite signal received through the reference antenna and the first and second observation antennas. An integer value bias determination device that calculates a candidate for a numerical bias solution, and determines a true integer value bias based on the long base line length, the short base line length, and the angle between the base line lengths among the calculated solution candidates. And a posture angle calculation device for calculating a posture angle of the moving body based on a true integer value bias and a carrier wave phase obtained between the long baseline ends. Tem. 2. A mobile attitude measuring system which receives a satellite signal transmitted from a positioning satellite and measures an attitude angle, wherein a reference antenna, a first observation antenna, and a reference antenna respectively arranged at a long base line end; A second observation antenna extending from the short base end, which is shorter than the long base line and has a different orientation, and on the long base line, between the reference antenna and the first observation antenna. A third observation antenna whose base line distance from the reference antenna is shorter than the long base line, and an integer bias from a satellite signal received through the reference antenna and the first to third observation antennas; Solution candidates are calculated, and the second and third candidates are calculated among the calculated solution candidates.
An integer bias determining device that determines a true integer bias based on two short baseline lengths and an angle between the baseline lengths related to the observation antenna, and a determined true integer bias, and a carrier phase obtained between the long baseline ends. And a posture angle calculation device that calculates a posture angle of the moving body based on the moving body posture angle measurement system. 3. A multiple antenna arrangement for receiving a satellite signal transmitted from a positioning satellite and calculating a true integer value bias, wherein a reference antenna, a first observation antenna, and a first antenna are respectively disposed at a long base line end. A second observation antenna extending from the reference antenna and arranged at a short base end that is shorter than the long base and has a different orientation. 4. A multiple antenna arrangement for receiving a satellite signal transmitted from a positioning satellite and calculating a true integer value bias, wherein a reference antenna, a first observation antenna, and a first observation antenna respectively arranged at a long base line end are provided. A second observation antenna extending from the reference antenna, arranged at a short base end that is shorter than the long base line and has a different direction; and a second observation antenna on the long base line, the reference antenna and the first observation antenna. And a third observation antenna disposed at a short base line end whose base line distance from the reference antenna is shorter than the long base line.