The Study And Realization On GPS Attitude And Heading System

In this dissertation, the theory and realization of GPS梑ased attitude and heading system is studied. The resolution of integer ambiguity is one important problem of GPS梑ased attitude and heading system. In this dissertation, the general Kalman filtering algorithm is modified according to the characteristics of GPS梑ased attitude and heading system, and then, the optimized ambiguity search algorithm and the ambiguity search algorithm based on Z梩ransform is proposed. The two methods are all efficient. A kind of ambiguity search algorithm based on the method of QRdecomposition and the fixed baseline length is proposed, which is suitable for short baseline. Finally, a kind of ambiguity repair methods for vehicles moving on the ground when GPS satellite is unlocked is proposed. The detection and repair of cycle slip is another important problem of GPS梑ased attitude and heading system. In this dissertation, based on theory of fault detection, the methods of detection and repair of cycle slip using redundant double difference as measurements and using modified triple difference as measurements is proposed respectively. The two methods are efficient under kinematic condition and the initial time can be reduced rapidly. lVe developed a low cost GPS attitude system prototype based on Jupiter GPS OEM board and two high precision GPS heading systems prototype respectively based on Allstar and GG24 GPS OEM board. The hardware and software of the three systems is successfully done and a lot of experiments had been done.