一种基于自适应滤波的GPS滚转角估计方法

The two main techniques for Global Positioning System (GPS) attitude measurement are to use GPS carrier phase and signal power, but the measurement information is single and independent. Aimed at the problem of attitude measurement of a spinning vehicle, a roll angle estimation method using GPS based on adaptive filter is proposed, which measures the roll angle and roll angular velocity by combining signal power and Doppler frequency information of GPS receiver antenna. The system model of the roll angle and roll angular velocity measurement is established by using the current statistical model, the measurements are selected according to the predicted estimation value of the roll angle, and an adaptive filter is proposed. The adaptive filter algorithm of roll angular acceleration estimation is used to realize the adaptive adjustment of the variance matrix of the system noise, which avoids the selection of the roll angle acceleration maximum value and reduces the effect of noise. The feasibility of the roll angle estimation method using GPS based on adaptive filter is verified by simulation, and the results show that the measurement accuracy of the method is higher than that of Unscented Kalman Filter (UKF).