| It's a new research field to determine the attitude of kinematic carrier using measured carrier phase of Global Positioning System (GPS). This thesis investigates the attitude determination using carrier phase with an emphasis on theoretical aspects and algorithms. The implementation of GPS-based attitude determination system is also discussed.An attitude determination system with three GPS receivers is suggested. The system consists of three vital stages including data acquisition and processing, ambiguity resolution and attitude calculation.In the stage of data acquisition, the necessary information for attitude determination is extracted from GPS receivers in binary format, including carrier phase, coordinates of receivers in WGS-84 coordinate system and ephemeris of GPS satellites.In the stage of ambiguity resolution, firstly, most of the available ambiguity determination methods are analyzed and summarized into four steps. Then the determination of the ambiguity search space and the correct ambiguity are explained in detail. The QR decomposition algorithm and geometrical restriction method both are employed to establish the search space of the ambiguity for short-baseline system. Finally, several detecting and processing methods of cycle-slips in the data are discussed.In the stage of attitude calcultion, three relevant coordinate systems are introduced. The determination of attitude from vector observations is incomplete and there are many problems to be solved. Achievements have been made by foreign researchers in recent thirty years.Both basic ideas and development status of typical algorithms are described and analyzed through comparison. Algorithms are programmed and verified using simulated data.Furthermore, based on the theoretical research, the attitude determination system is implemented using SUPERSTAR II OEM receivers manufactured by the NovAtel Company. Finally, a lot of field tests are employed and the results show that the system has a good performance.
|
PDF Full Text Request