System for determining the orientation in space of a moving body relative to the earth

摘要

Navigation satellite receiver measurements of the acceleration of a moving vehicle are used to derive valuable attitude information about the vehicle. Three-dimensional accelerometer measurements aboard the vehicle are used to determine the specific force vector in the bow frame. The navigation satellite receiver measurements allow determination of the specific force vector in the earth-fixed frame. The specific force vector measured in both vehicle and earth-fixed frames can be used with additional information to derive vehicle attitude.