Apparatus, method and computer readable media for calculating status, and movable body

摘要

A status calculating apparatus is provided. The apparatus includes three or more antennas disposed at different positions on a movable body, each antenna receiving positioning signals, correlators for calculating carrier wave phase differences for every antenna based on correlation of the positioning signals with a replica signal, carrier wave phase measurement value calculating modules for calculating carrier wave phase measurement values, a baseline vector calculating module for calculating baseline vectors based on the carrier wave phase measurement values, and an attitude angle calculating module for calculating a yaw angle for every baseline vector and calculating a representative yaw angle based on the plurality of calculated yaw angles.

主权项

1. A status calculating apparatus, comprising:
three or more antennas disposed at different positions on a movable body, each antenna receiving a plurality of positioning signals; correlators configured to calculate carrier wave phase differences for every antenna based on correlation of the plurality of positioning signals with a replica signal of the positioning signal; and an information processing device configured to execute:
carrier wave phase measurement value calculating modules configured to calculate carrier wave phase measurement values, each carrier wave phase measurement value being an integrated value of the carrier wave phase differences;a baseline vector calculating module configured to calculate a plurality of baseline vectors based on the carrier wave phase measurement values; andan attitude angle calculating module configured to:
calculate, by using two of the plurality of baseline vectors as a pair, a pitch angle for every pair,calculate a representative pitch angle based on the calculated pitch angles, andcalculate a representative yaw angle based on the representative pitch angle and a baseline vector, as an attitude angle.