JP5052845B2 - Mobile body posture measuring device - Google Patents

Description

  The present invention relates to a moving body posture measuring apparatus that measures the posture of a moving body such as a ship using a satellite navigation system such as GPS.

  The posture of a moving body such as a ship can be expressed using a direction ψ, a pitch θ, and a roll φ. When defining the right-handed Cartesian coordinates (moving body coordinate system) fixed to the moving body, these quantities are defined as follows.

  The azimuth is an angle formed from the x-axis of the local coordinate system to the projection onto the xy plane of the local coordinate system of the x-axis of the moving object coordinate system.

  The pitch is an angle formed from the projection of the x-axis of the moving object coordinate system onto the xy plane of the local coordinate system to the x-axis of the moving object coordinate system.

  The roll is a rotation angle from the horizontal plane of the local coordinate system of the mobile body coordinate system y-axis centered on the x-axis of the mobile body coordinate system.

  As such a moving body posture detection device for detecting the posture of a moving body, a device using a satellite navigation system such as GPS or GLONASS is known. That is, this mobile body attitude | position detection apparatus detects the attitude | position of a mobile body from signals, such as a GPS satellite, received with a some antenna.

  As described above, when the attitude information is accurately calculated from signals from GPS satellites received by a plurality of antennas installed on the moving body, a single phase difference or a double phase difference between the antennas is used.

As shown in FIG. 1, the single phase difference is the same satellite 105 measured by the reference receiver 103 and the user receiver 104 respectively connected to the reference antenna 101 and the user antenna 102 constituting a certain base line b. Is the difference in the carrier phase of the signal. Between this difference and the baseline vector b formed by the reference antenna 101 and the user antenna 102, the following relational expression is established from the path difference.
...... (1)
Here, y is a single phase difference, h is a unit direction vector to the satellite 105, b is a baseline vector, a is an integer value, Δt is a clock error indicating a deviation in the phase acquisition timing of the receivers 103 and 104, e Is the observation error. The subscript s means a single phase difference. The unit is represented by wave number. Equation (1) indicates that there is a difference between the single phase difference phase and the path difference h _s ^T b by the sum of an integral multiple of a certain wavelength λ and Δt. For example, when the instantaneous phase is observed with each antenna, the range of the value is [−0.5: 0.5].

At this time, since the value of the single phase difference is expressed only by [−1.0: 1.0], there is a difference between the path difference h _s ^T b and the integral multiple of a certain wavelength λ and Δt. There will be. This integer value is called an integer value ambiguity and corresponds to a _s in equation (1).

The double phase difference is a difference between a single phase difference of a reference satellite at a certain baseline and a single phase difference other than the reference satellite. The relationship between the double phase difference between the reference satellite i and the satellite k and the baseline is
(2)
It is expressed.

here,
...... (3)
...... (4)
...... (5)
...... (6)
Means. Here, the subscript d represents a value related to the double phase difference. By calculating the double phase difference in this way, the clock error can be canceled (refer to Patent Document 3 for the double phase difference).

Next, a conventional method for calculating the posture of the moving body will be described with reference to FIG. Here, a case where the moving body is a ship 111, three antennas 112 to 114 are arranged in the ship 111, and calculation is performed using a double phase difference will be described as an example. From the baseline vectors b ₁ and b ₂ from the reference antenna 112 to the user antennas 113 and 114, the attitude of the ship 111 is

...... (7)
...... (8)
...... (9)
It becomes. Here, g _{−} is a function for calculating each piece of posture information from the baseline vector.

This function g _{-} is specifically expressed as follows. The subscripts x, y, and z here indicate the values of the x, y, and z axes in the local coordinate system of each baseline.

...... (10)
...... (11)
(12)

here,
(13)
It is. Arg (-) is a complex argument.

The observation equation for the baseline vectors b ₁ and b ₂ is
(14)
...... (15)
It can be expressed. Here, y _(bi) is a vector constituted by the phase difference observed at the base line i. a _(bi) is a vector composed of integer value ambiguities corresponding to the phase difference observed at the base line i. H _(bi) is a matrix composed of a vector h representing the relationship between the baseline vector observed at the baseline i and the phase difference. e _(bi) is a vector composed of observation errors mixed in the phase difference observed at the base line i.
Japanese Patent No. 3502007 JP 2006-105635 A JP 2002-54946 A

However, in the conventional method for calculating the posture of the moving body, it is necessary to separately obtain the two simultaneous equations (14) and (15) in order to obtain the baseline vectors b ₁ and b ₂ . For this reason, in the above-described conventional method for calculating the posture of the moving body, the integer value ambiguity vectors a _{d (b1)} and a _{d (b2)} are obtained separately, and therefore the calculation is complicated. There was a bug.

In addition, although the unknowns are three directions, pitch, and roll with respect to the number of observations of the full-duplex phase difference, the unknowns are obtained as six because the baseline vectors b ₁ and b ₂ are obtained. For this reason, there is a problem that the accuracy of the posture vector calculated from the baseline vectors b ₁ and b ₂ is deteriorated.

  Therefore, an object of the present invention is to make it easier to calculate the posture of the moving body than in the past, and to improve the accuracy of the calculated value of the posture of the moving body.

  (1) The present invention is based on n (2, 3, 4,...) Antennas that are provided on a mobile object whose attitude is to be measured and receives satellite signals, and satellite signals received by the antennas. From the positional relationship calculating means for calculating the positional relationship between the mobile body and the satellite, the carrier phase measuring means for measuring the carrier phase of the satellite signal received by each antenna, and the carrier phase measured by the carrier phase measuring means A phase difference calculating means for calculating a single phase difference or a double phase difference, an initial value calculating means for calculating an initial value of an unknown attitude component of the moving object, a positional relationship between the antennas, the moving object and the satellite And the initial value is converged using a nonlinear estimation method based on the relationship between the single phase difference and the double phase difference, and the unknown integer ambiguity and the unknown of the moving object Attitude An attitude such calculation means for calculating a minute, it is a mobile orientation measurement apparatus comprising a.

  (2) The initial value calculation means calculates an initial value for a candidate for some or all of the unknown integer value ambiguities, the unknown posture component for each candidate, and calculates the posture, etc. The means makes the integer value ambiguity candidates known and converges the initial value of the posture component of each candidate by the nonlinear estimation method to correspond to the remaining unknown integer value ambiguities of the candidates and the candidates. And calculating means for calculating the unknown posture component and selecting means for selecting a correct candidate from the candidates.

  (3) The posture and the like calculation means may use a nonlinear least square method as the nonlinear estimation method.

  (4) Error estimation amount calculation means for obtaining an error estimation amount in the single phase difference or double phase difference based on the integer value ambiguity calculated by the posture etc. calculation means and the posture of the moving body; and the error estimation amount It is also possible to further comprise test means for testing the integer value ambiguity and the correctness of the posture of the moving object based on the evaluation index value using.

  (5) Error selection amount calculation means for obtaining an error estimation amount for the single phase difference or double phase difference based on the integer value ambiguity calculated by the posture calculation means and the posture of the moving body, and the selection The means may select a correct candidate from the candidates based on an evaluation index value using the error estimated value.

  (6) The initial value calculating means may measure a tilt component of the posture component and calculate an initial value of the unknown posture based on the tilt component.

  (7) A storage unit that stores the integer value ambiguity calculated by the posture etc. calculation unit is further provided, wherein the posture etc. calculation unit includes the integer value ambiguity stored in the storage unit. It is also possible to calculate the unknown integer value ambiguity and the unknown posture component of the moving object by using an effective one as a known one.

(8) It further comprises storage means for storing the posture value calculated by the posture etc. calculating means,
The initial value calculation unit may calculate the initial value based on the posture value stored in the storage unit.

  (9) In the invention of (2), the initial value calculation means includes two or more of the single phase difference or the double phase difference that are observed with respect to a baseline formed by two antennas of the n antennas. When the integer value ambiguity for the two or more phase differences is determined with respect to the integer value ambiguity of the phase difference, it is estimated from the relationship between the two or more phase differences and the arrangement of the satellites. The base line length of the base line that is close to the actual base line is calculated as the candidate, and the initial value for the remaining unknown integer value ambiguity and the initial position for the unknown posture component are calculated using the estimated base line. A value may be obtained.

  (10) In the invention of (9), the initial value calculating means measures an inclination component of the posture components and calculates an integer value ambiguity for the two or more phase differences based on the inclination component. May be.

  According to the present invention, since all integer value ambiguity vectors can be solved simultaneously, the calculation of the posture of the moving object becomes simpler than in the prior art.

  In addition, since the relationship of arrangement between the base lines is used when solving the integer value ambiguity vector, the accuracy of the obtained integer value ambiguity vector is dramatically improved. Furthermore, since it is not necessary to obtain a plurality of baseline vectors as in the prior art, the accuracy of the calculated value of the posture of the moving body can be improved.

  Next, an embodiment of the present invention will be described. Below, the algorithm used with the mobile body attitude | position measuring apparatus which is embodiment of this invention is demonstrated first, and the structure and operation | movement of a mobile body attitude | position measuring apparatus using this algorithm are demonstrated next. Moreover, in the following example, it demonstrates as a mobile body being a ship.

[About algorithm]
First, the algorithm used in the mobile body posture measuring apparatus according to the embodiment of the present invention will be described in detail.

(1) When the number of user antennas is 2 First, as shown in FIG. 2, the case where two user antennas 113 and 114 are arranged in the ship 111 in addition to the reference antenna 112 will be described. The base lines in this case are set as base lines b1 and b2.

  The feature of this algorithm is to express a plurality of linear simultaneous equations as one nonlinear simultaneous equation using azimuth ψ, pitch θ, roll φ, and calculate posture value while calculating integer value ambiguity vector using nonlinear estimation method Is to calculate. Details of this algorithm are as follows.

First, each base line vector in the hull coordinate system (moving body coordinate system) is b _v1 and b _v2 . These vectors are known. The relationship between the baseline vectors b ₁ , b ₂ and b _v1 , b _v2 is obtained by using the following coordinate transformation matrix U (ψ, θ, φ):

...... (16)
It is expressed.

Here, the coordinate transformation matrix U (ψ, θ, φ) is a function as follows.
...... (17)
The relationship between the double phase difference and the posture of the moving body is expressed by the following equation.
...... (18)
...... (19)

Then, the observation values of the base line L1 and the base line L2 are combined into one expression,
...... (20)
It expresses. here,
(21)
It is. Here, equation (20) is called an observation model equation, and equation (21) is called a state variable vector. The integer value ambiguity and the posture of the moving object are calculated by the observation model expression expressed using the state variable vector.

Assume that the integer value ambiguity vector a is unknown. At this time, in order to estimate x, a matrix obtained by differentiating with respect to X of this observation equation f (x),
...... (22)
Is used to set the initial point x ₀ (hat to x) to an appropriate value, and the nonlinear least square method is used as the nonlinear estimation,
...... (23)
Can be obtained by converging.

An unknown integer value ambiguity vector a _k (hat to a) is
(24)
As every time. Here, round (-) means rounding to the nearest integer.

Alternatively, a certain number of times l is provided,
...... (25)
It is also good.

Further, Q in the equation (23) is a weight matrix, and an appropriate value is set.
...... (26)
Or
...... (27)
It is normal to set as. Here, E {-} means an expected value, and I means a unit matrix.

As described above, by setting the initial point and converging the nonlinear filter, the posture of the moving body can be calculated, and an unknown integer value ambiguity vector can be obtained at the time of convergence.
The residual at convergence is

...... (28)
The residual sum of squares r ² is
...... (29)
It can be asked.

The estimated variance of the observed noise is as follows. If the number of observations in the observation model equation (20) is m and the number of elements of the state variable vector is n (here, 3),
...... (30)
Can be expressed as

By comparing this σ ² (hat to σ) and the threshold σ ² _th , the calculated posture of the moving body and the integer value ambiguity vector can be tested.

  According to such means, since the number of observation values for solving the posture of the moving body is increased as compared with the conventional means, the accuracy of the estimated posture is improved.

  In addition, since the relationship of the arrangement between the baselines is used, the estimated variance of the observation error is also improved, and if the obtained azimuth and integer value ambiguity are incorrect, the value increases, so the calculated attitude The accuracy of the test results is greatly improved.

(2) When the value of the integer value ambiguity vector is known In the above example, the example in which all the values of the integer value ambiguity vector are unknown has been described. In the following, the integer value ambiguity vector is described. Consider the case where some of a are already known.

First, the equation (20) is divided into those in which the integer value ambiguity vector is already determined and those in which the integer value ambiguity vector is not determined.
...... (31)
It expresses. Here, the subscript p indicates that the integer value ambiguity vector is determined, and the subscript q indicates that the integer value ambiguity vector is not determined.

And the initial point x ₀ of the state vector (hat to x) is set to an appropriate value,
...... (32)
Posture information is calculated by converging.

here,
(33)
It is.

An unknown integer ambiguity vector a _q is
...... (34)
As each time.

Or, set a certain number of times l,
...... (35)
It is also good.

By calculating the estimated variance σ ² (hat to σ) of the observation error for the converged moving body direction and comparing the threshold σ _th ² , the calculated moving body posture and the integer value ambiguity vector are obtained. Can be tested.

In this case, compared to the above-mentioned case where all integer value ambiguity vectors are unknown values, when the initial value x ₀ is not an appropriate value and converges to an incorrect posture, a fixed integer value Since the estimated dispersion amount increases due to the influence of the ambiguity vector value, the accuracy of the verification of the calculated posture vector is improved.

Using the above, when the initial value x ₀ of the state vector for the candidate and each candidate for a _p was given by some way, given that select the correct candidate.

As a method of calculating the initial value x ₀ of the candidate and the state vector for each of the candidates for a _p it is considered the following methods. First, an expression relating to p is configured as follows using an observation model expression including two or more observation phase differences among the observation model expressions relating to the base line i.
...... (36)

At this time, the baseline is
...... (37)
Can be estimated.

Therefore, using the fact that the baseline length of the baseline i is known,
...... (38)
Let _ap be a candidate.

(37) cannot be solved with the two observed phase differences, but the _z component of the baseline i is appropriately given as b _{z (i)} and (hat to b),
...... (39)
It can be solved by estimating only the horizontal direction of the baseline. Here, H _{xy (p)} and h _{z (p)} are a matrix of horizontal components and a matrix of vertical components of H _p , respectively.

At this time,
...... (40)
Let _ap be a candidate. The state variable vector for _ap is the approximate orientation calculated from the horizontal component of the estimated baseline vector, and an appropriately given roll and pitch.

As described above, b _{z (i)} (hat to b), roll, and pitch can improve the accuracy of the state variable vector based on the measured values of a measuring device such as an inclinometer, and a _q Can be easily converged to the correct value. For each candidate obtained as described above, a state variable vector (posture), an integer value ambiguity vector, and an estimated variance of observation error are calculated, and an appropriate criterion is used from the estimated variance. Pick the right candidate. As an example of a suitable judgment criterion, a candidate having the smallest estimated variance is obtained by comparing the ratio with a certain dark value r _th using the smallest estimated variance and the second smallest estimated quantity. Can be tested. The estimated amount of enemies in each candidate is small if it is correct and large if it is incorrect, which improves the accuracy of testing the candidate to be selected.

(3) Single Phase Difference Model In the above example, the case where the posture of the moving body is estimated using the double phase difference has been described. However, it is also possible to use a single phase difference instead of the double phase difference.

This is because the state variable vector represented by the double phase difference observation model equations (20) and (21) is replaced with the single phase difference observation model equation (41) and the state variable vector (42). Thus, it may be solved in the same manner as in the case of the double phase difference described above.
...... (41)
...... (42)
Here, c _bi is a vector whose element value having the number of elements of the single phase difference observed for the base line i is 1, and Δt _bi is a clock error for the base line i.

(4) Model capable of measuring rolls and pitches Among the postures of the moving body, the pitch and / or rolls are obtained by a measuring device such as an inclinometer, and the pitch and / or rolls or both are obtained as constants from the obtained values. It is also possible to estimate only the bearing.

Assuming that the pitch value and roll value obtained from a measuring device such as an inclinometer are θ _c and φ _c and using these values to estimate only the orientation of the moving object, the double phase difference Is the observation model equation and the state variable vector,
...... (43)
(44)
As long as you solve.

In single phase difference,
...... (45)
...... (46)
It can be solved as

Further, if the values of Δt _{b1 and} Δt _b2 or both are known, it is also possible to solve them using an observation model equation giving the values.

(5) When the number of user antennas is n Next, as described above, the number of user antennas is not limited to two, but generally n (1, 2, 3,...) As shown in FIG. ).

Base line vectors from the reference antenna to each user in the moving object coordinate system are represented as b _v1 , b _v2 ,..., B _vn . These vectors are known. Baseline vectors b ₁ , b ₂ , b ₃ from the reference antenna to each user in the local coordinate system are
...... (47)
It is expressed.

Therefore, the relationship between the double phase difference and the posture is
...... (48)
It is expressed.

This allows the observation model and state variable vector to be
...... (49)
...... (50)
It can be solved as

For single phase difference,
...... (51)
...... (52)
It can be solved as

  Even in the case where there is one base line, the calculation can be performed in the same manner by using a model in which a constant is given to the roll or pitch of the moving body.

[Configuration and operation of mobile body posture measurement device]
Next, a mobile body posture measuring apparatus using the above algorithm will be described.

  FIG. 4 is a block diagram illustrating the configuration of the moving body posture measuring apparatus 1 according to the present embodiment. The mobile body attitude measurement device 1 includes a satellite receiver 2 and a processor 3.

  The signal receiving unit 2 is provided in a moving body such as a ship whose attitude is to be measured by the moving body attitude measuring device 1, and includes a reference antenna 11 that receives satellite signals and a plurality (n (1, 2, 3). ,...)) User antenna 12 (first user antenna, second user antenna,..., N-th user antenna). Each antenna 11, 12 is connected to each signal receiver 14 individually prepared in the satellite signal processing unit 13. In each signal receiver 14, the positional relationship between the moving body and the satellite, that is, the azimuth angle information, the elevation angle information of the satellite, and each satellite received from each satellite by a known means from the signals received by the antennas 11 and 12. The phase information of the carrier wave phase of the satellite signal at the antennas 11 and 12 is calculated, and this information is output to the processing unit 3.

  The processing unit 3 calculates the attitude from the signal received from the signal receiving unit 2.

  That is, the approximate posture etc. storage unit 21 stores information on the approximate posture of the moving object (and, if present, some integer value ambiguities determined for the posture).

The calculation unit 26 performs various calculations. First, the integer value ambiguity calculation unit 22 includes the azimuth angle information, elevation angle information, phase information at each antenna 11 and 12 for each satellite, and the approximate attitude (or approximate attitude) stored in the approximate attitude storage unit 21 (or If present, some integer value ambiguities determined for the posture) or candidates for _ap calculated by the approximate orientation candidate calculation unit 28 (based on the above-described equations (36) to (40)) And the initial value x ₀ of the state vector for each candidate (hat to x) is given, simultaneous equations of double phase difference (equation (20) and (21)) or single phase difference Calculate the double phase difference or single phase difference based on the simultaneous equations (Equation (51) and Equation (52)) and set an appropriate value for the initial value (the initial point x ₀ described above (hat to x)) (For example , The initial value a schematic attitude above) to calculate the unknown integer ambiguity. Specifically, it can be calculated by equation (24) or equation (25).

  In addition, the posture estimation unit 23 estimates the posture of the moving body using a nonlinear estimation method (for example, obtain by converging equation (23) using the above-described nonlinear least square method). Note that not all attitude components are obtained by calculation, but the rough azimuth candidate calculation unit 28, the integer value ambiguity calculation unit 22, and the attitude estimation unit 23 include a hull inclination provided with an inclination measuring device 30 as shown in FIG. The measurement unit 29 may be used to measure the roll, pitch, or both, and the measured value may be used as an auxiliary.

  In addition, the convergence determination unit 24 determines whether or not the posture value of the moving object determined by the posture estimation unit 23 has converged. If the convergence value has not converged, the integer value ambiguity calculation unit 22 and the posture estimation The above calculation by the unit 23 is performed again.

  When the convergence determination unit 24 determines that the posture value of the moving body has converged, the variance estimation value calculation unit 25 calculates a variance estimated value at the time of convergence of the posture value of the moving body (described above ( 30).

The posture determination unit 27 uses the variance estimation value obtained by the variance estimation value calculation unit 25 to test whether the obtained integer value ambiguity and the posture value of the moving object are correct. Specifically, as described above, it is performed by comparing σ ² (hat to σ) in equation (30) and the threshold σ ² _th . If there are a plurality of ambiguity candidates, the ratio of the smallest estimated variance to the second smallest estimated variance among the candidates is tested using a certain threshold value r _th . The determined integer value ambiguity and posture measurement value are stored in the general posture etc. storage unit 21 and are used for the next azimuth calculation or ambiguity determination.

  According to the mobile body posture measuring apparatus 1 described above, since all integer value ambiguity vectors can be solved simultaneously, the mobile body posture can be calculated more easily than in the prior art.

  In addition, since it is not necessary to obtain a plurality of baseline vectors as in the prior art, the accuracy of the calculated value of the posture of the moving body can be improved.

  Furthermore, the accuracy of the estimated variance of the observation error calculated for the calculated value can be improved, and the accuracy of the test of the calculated attitude measurement value and integer value ambiguity vector can be improved.

It is a conceptual diagram explaining a single phase difference. It is explanatory drawing explaining the antenna arrangement | positioning in case there are two reference antennas. It is explanatory drawing explaining the antenna arrangement | positioning in case a reference antenna is n pieces. It is a block diagram of the mobile body attitude | position measuring apparatus which is one embodiment of this invention. It is a block diagram which shows the modification of the mobile body attitude | position measuring apparatus of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile body attitude | position measuring apparatus 11 Reference | standard antenna 12 User antenna 22 Integer value ambiguity calculation part 23 Attitude estimation part 24 Convergence determination part 25 Attitude determination part

Claims (7)

N antennas (2, 3, 4,...) That are provided on a mobile object whose attitude is to be measured and receive satellite signals;
A positional relationship calculating means for calculating a positional relationship between the mobile body and the satellite from satellite signals received by the antennas;
Carrier phase measuring means for measuring the carrier phase of the satellite signal received by each antenna;
A phase difference calculating means for calculating a single phase difference or a double phase difference from the carrier phase measured by the carrier phase measuring means;
Initial value calculating means for calculating an initial value of an unknown posture component of the moving body;
Based on the positional relationship between the antennas, the positional relationship between the mobile body and the satellite, and the relationship between the single phase difference or the double phase difference, by converging the initial value using a nonlinear estimation method, A posture calculating means for calculating an unknown integer value ambiguity and an unknown posture component of the moving body;
With
The initial value calculation means calculates an initial value for the unknown posture component for each of the candidates for some or all of the unknown integer value ambiguities, each of the candidates,
The posture etc. calculating means is:
The integer value ambiguity candidates are known and the initial value of the posture component of each candidate is converged by the nonlinear estimation method, and the remaining unknown integer value ambiguity of each candidate and the unknown corresponding to each candidate Calculating means for calculating the posture component of
A selection means for selecting a correct candidate from the candidates;
With
The initial value calculation means sets the integer value ambiguity of two or more phase differences of the single phase difference or the double phase difference observed with respect to a base line formed by two antennas of the n antennas. On the other hand, when the integer value ambiguity for the two or more phase differences is determined, the baseline length of the baseline estimated from the relationship between the two or more phase differences and the arrangement of the satellites is the actual baseline. Calculating an initial value for the remaining unknown integer value ambiguity and an initial value for the unknown posture component using the estimated baseline, and calculating the nearby component as the candidate. Measuring an inclination component, and calculating an integer value ambiguity for the two or more phase differences by the inclination component.
Mobile body posture measurement device. The mobile body posture measuring apparatus according to claim 1, wherein the posture calculation unit uses a nonlinear least square method as the nonlinear estimation method. An error estimator calculating means for obtaining an error estimator in the single phase difference or double phase difference based on the integer value ambiguity calculated by the attitude etc. calculating means and the attitude of the moving body;
By means of an evaluation index value using the error estimator, test means for testing the correctness of the integer value ambiguity and the posture of the moving body,
The mobile body posture measuring apparatus according to claim 1, further comprising: An error estimator calculating means for obtaining an error estimator in the single phase difference or double phase difference based on the integer value ambiguity calculated by the attitude etc. calculating means and the attitude of the moving body;
The selection means selects a correct candidate from the candidates by an evaluation index value using the error estimation value.
The mobile body posture measuring device according to claim 1 . The mobile body posture measuring apparatus according to claim 1, wherein the initial value calculating unit measures an inclination component of the posture component and calculates an initial value of the unknown posture based on the inclination component. A storage unit that stores the integer value ambiguity calculated by the posture calculation unit;
The posture and the like calculation means uses the valid integer value ambiguities stored in the storage means as known ones, the unknown integer value ambiguities and the unknown of the moving object. Calculate posture components,
The mobile body posture measuring device according to claim 1 . A storage unit that stores the posture value calculated by the posture calculation unit;
The initial value calculation means calculates the initial value based on the posture value stored in the storage means.
The mobile body posture measuring device according to claim 1 .