| 摘要 |
<p>A method for obtaining observables for input to a Kalman filter process determines the attitude (roll, pitch, and heading) of a platform. The method utilizes an inertial measurement unit (IMU) (I1) attached to the platform and an associated processor (P3), a plurality of signal receiving antennas (A1-A2) attached to the platform, and a plurality of satellite transmitters. The heading of the platform as determined by the IMU and its associated processor by themselves can be significantly in error. A comparison of the values of an attitude-sensitive function of the ranges from the platform antennas to different groupings of satellite transmitters obtained first by using IMU data and second by using the measured phases of the satellite-transmitter signals received at the platform antennas, a very accurate value for the range function is obtained. This accurate value of the range function is used in a Kalman filter process to obtain very accurate values for platform attitude.</p> |
