| 摘要 |
PROBLEM TO BE SOLVED: To enhance attitude estimation precision and position estimation precision, by reducing a multipath error without complicating a device, in a GNSS (Global Navigation Satellite System) position/attitude estimation device using a plurality of antennas. SOLUTION: This attitude estimation device of the present invention includes a function for assigning a carrier wave phase difference calculated by a following expression using attitude angle information, as a restriction condition, in a correlation device mounted with plurality of antennas on a moving body, and for correlating a GNSS satellite signal acquired in the each antenna with a replica signal generated in an inside of the device, and further includes a means for reducing the multipath error of a carrier wave phase by using the correlation device having the restriction condition, using the attitude angle obtained by a function of a conventional GNSS attitude estimation device as an initial value, and for estimating the carrier wave phase in the each antenna to recalculate the attitude angle. COPYRIGHT: (C)2008,JPO&INPIT
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