Method For Determination Of 3d Gesture-based Gps / Ins Carrier

Attitude is the vector of the coordinate system relative to the orientation of reference coordinate system, the general use of Yaw angle, Pitch angle and Roll angle to describe. Attitude information is widely used in dynamic carrier, such as satellites, aircraft, automobiles, ships; These carriers usually need high-precision Attitude information, but it's difficult to obtain under High dynamic environment. Therefore, how to determine a practical and efficient method to obtain the attitude has always been a difficult engineering problem.Attitude can be obtained by INS, with the advantage of high-profile independent, and full-featured, free from external interference and high data sampling rate. but the drift of INS cause systematic errors to accumulate overtime, which is very unfavorable for Attitude determination for a long time.GPS not only provide position, speed and pulse information, can also achieve attitude measurement. Through a combination of a number of GPS antennas, GPS attitude determination system will be able to access the profile information vector ,and this method has a lot of advantages, such as high-accuracy, low cost, small size, good long-term stability data, the error will not accumulate, etc. But, this method also keeps a lot of shortcomings, such as low data update , poor signal anti-interference ability, and lose signal In complex urban terrain.Rely on GPS alone can not meet the information needs of Attitude; Meanwhile,As the gyro drift, the INS data can only be short-term high-precision; Therefore,and INS attitude alone is not feasible to provide. Therefore, it's a great significance of the integration of GPS and INS in order to obtain more precision,more reliability of the Attitude information .This paper describes a new method for attitude determination, which is a combination of GPS and INS attitude information. A filter model is presented corresponding to characteristic of GPS/INS signal and current statistical model. Moreover,Azimuth noise can be filtered by kalman filter algorithm based on this model, which corresponding to Virtual Measurement calculated by Baseline restriction. The result the filtering results can be improved greatly.