Vehicle Attitude Estimation Model Using Optimized Time-Differenced Carrier Phase
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摘要: 针对运动车辆的姿态角传统估计方法成本较高、模型复杂等问题，提出一种低成本、高效率、高精度的基于载波相位时间差分（Time-Differenced Carrier Phase，TDCP）的车辆航向角和俯仰角估计模型。该模型利用一台GNSS （Global Navigation Satellite System）接收机的观测数据，使用复杂度低的TDCP算法得到精确的车辆位移矢量，进而估计车辆航向角和俯仰角。其中，为提高估计效率，模型对传统载波相位时间差分算法进行优化。静态测试和动态测试表明，优化的载波相位时间差分较一般载波相位时间差分效率更高，提出的航向角和俯仰角估计模型能提供精确的航向角和俯仰角估计值，其均方根误差小于0.2°，最大误差小于1.5°。Abstract: Objectives: To solve the problems of high cost and high complexity of the traditional estimation method of the moving vehicles attitude angle, a innovative vehicle heading and pitch estimation model based on optimized time-differenced carrier phase is proposed. Methods: Firstly, this model only uses the observation data of one GNSS receiver to obtain accurate vehicle displacement vector using a low-complexity algorithm, time-differenced carrier phase. Then, the vehicle heading and angle are estimated using accurate displacement vector. Among them, in order to improve the estimation efficiency, the model optimizes the traditional time-differenced carrier phase algorithm. Results: Static and dynamic tests show that:(1) The optimized time-differenced carrier phase is more efficient than the general carrier phase time-difference, and the processing time can be saved by about 40%. (2) The proposed heading and pitch estimation model can provide accurate heading and pitch, whose root mean square error is less than 0.2ånd maximum error is less than 1.5°. (3) The accuracy of the model will not be affected by the accumulation of errors within one hour. Conclusions: This model uses only one receiver to obtain heading and pitch of moving vehicles, which has the advantages of high accuracy, low cost, low complexity and high efficiency.
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Key words:
- heading /
- pitch /
- time-differenced carrier phase /
- vehicle /
- displacement
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