Study Of The Vehicle-Based Attitude And Antenna Position Determination

The GPS attitude determination system is a project of 'the close shot target three-dimension survey system'. 'The close shot target three-dimension survey system' requests to build up a vehicle-based three-dimension survey system including GPS LS and CCD, and the purpose are to establish all-directions three-dimension city models. And the research of the GPS attitude determination system is to give high precision three-dimension attitude of the vehicle flat roof and the antenna's position.This paper combining the project request, mainly discuss under the condition of moving coordinate how to handle GPS data and under weak restrictions how to improve the attitude accuracy. On the base of summarizing GPS attitude determination arithmetic, the paper presents a GPS attitude determination system, emphases on the study of the constraint adjustment and curve imitated arithmetic, develops the attitude survey software, and finally testifies the valid by using experiment data.This paper introduces at length the step, method and regulations to get the accurate baseline vectors using GPS data processing software. Then all attitude estimation method suitable for GPS observable is presented. On the base of summarizing GPS attitude determination arithmetic, an attitude determination arithmetic and the estimated formula suitable for the project is presented. The effect to attitude of main antenna coordinate is discussed. The method how to get the main antenna coordinate by using the known base station coordinate is introduced, too.This paper presents arithmetic under the condition of antennas fixed on the vehicle and the baseline vector accuracy is fixed, how to get the more accurate baseline vectors to obtain the attitude suitable for the project's request using single station and double stations constraint adjustment. Both methods can achieve more accurate attitude than direct computed analyzing experiment data. But the attitude computed using double stations is as good as single station and former is complexes. Considering the spending, the single station constraint adjustment arithmetic is adopted.At last, this paper discusses the method using multinomial to smooth attitude parameter.