Application of the constrained moving horizon estimation method for the ultra-short baseline attitude determination
Tóm tắt
GPS compass equipped with ultra-short baselines (2–5 carrier wavelengths) is a low-cost heading and elevation indicator for many size-limited applications such as small vehicles, robots, miniaturized satellites or aircrafts. Since the single epoch GPS compass can guarantee a total independence from carrier phase slips, recent researches focus on the high success rate ambiguity resolution for this study. However, the accuracy is another important problem, especially for the size-limited application, since a shorter baseline results in a lower accuracy. Although the Kalman filter can be used for accuracy improvement, we might have information about a system that the Kalman filter does not incorporate. Given that the baseline length is known as well for GPS compass, we can integrate the nonlinear constraint into the state estimation of baseline and get better filtering performance than the Kalman filter provides. Based on this scheme, the constrained Moving Horizon Estimation (MHE) approach can be used for the accuracy improvement. Both simulations and actual experiments have been performed to verify the effectiveness of this method. The achieved results are notable to the GNSS compass software developers.
Tài liệu tham khảo
Axelrad P, Brown RG (1996) Global positioning system: theory and applications, vol 1. American Institute of Aeronautics and Astronautics, Washington, pp 409–433
Bruno OS et al. (2009) State estimation for linear and non-linear equality-constrained systems. Int J Control 82(5):918–936
Buist PJ (2007) The baseline constrained LAMBDA method for single epoch, single frequency attitude determination applications. In: Proceedings of ION GPS, Fort Worth, TX, USA, pp 2962–2973
Chang XW, Huang M (2005) Kinematic relative GPS positioning using state-space models: computational aspects. In: Proc ION 61st annual meeting, Cambridge, MA, Jun 27–29, pp 27–29
Chen W, Qin H (2011) New method for single epoch, single frequency land vehicle attitude determination using low-end GPS receiver. GPS Solut 16(3):329–338
Chen W, Qin H, Zhang Y, Jin T (2012) Accuracy assessment of single and double difference models for the single epoch GPS compass. Adv Space Res 49(4):725–738
Hayward RC, Gebre-Egziabher D, Powell JD (1998) GPS-based attitude for aircraft. In: Proceedings of 5th Saint Petersburg international conference on integrated navigation systems, pp 85–94
Kuntsevich A, Kappel F (1997) SolvOpt. Available at http://www.uni-graz.at/imawww/kuntsevich/solvopt/
Park C, Kim I, Jee G, Lee JG (1997) An error analysis of GPS compass. In: Proceedings of the 36th SICE annual conference, pp 1037–1042
Park C, Teunissen PJG (2009) Integer least squares with quadratic equality constraints and its application to GNSS attitude determination systems. Int J Control Autom 7(4):566–576
Rao C, Rawlings J, Lee J (2001) Constrained linear state estimation—a moving horizon approach. Automatica 37(10):1619–1628
Rao C, Rawlings J, Mayne D (2003) Constrained state estimation for nonlinear discrete-time systems: stability and moving horizon approximations’. IEEE Trans Autom Control 48(2):246–258
Shirazian M, Sjoberg LE, Horemuz M (2011) A remark on the GNSS differenced phase ambiguity parameters. Acta Geod Geophys Hung 46(4):431–440
Simon D (2010) Kalman filtering with state constraints: a survey of linear and nonlinear algorithms. IET Control Theory Appl 4(8):1303–1318
Teunissen PJG (2007) The LAMBDA method for the GNSS compass. Artif Satell 41(3):89–103
Teunissen PJG (2010) Integer least squares theory for the GNSS compass. J Geod 84:433–447
Teunissen PJG, Giorgi G, Buist PJ (2011) Testing of a new single-frequency GNSS carrier-phase compass method: land, ship and aircraft experiments. GPS Solut 15(1):15–28
Teunissen PJG (2012) The affine constrained GNSS attitude model and its multivariate integer least-squares solution. J Geod 86:547–563
Tu CH, Tu KY, Chang FR, Wang LS (1997) GPS compass: novel navigation equipment. IEEE Trans Aero Eelectr Syst 33(3):1063–1068
Verhagen S (2006) Visualization of GNSS-related design parameters: manual for the Matlab user interface. VISUAL. Delft University of Technology, available at http://www.citg.tudelft.nl/en/about-faculty/departments/geoscience-and-remote-sensing/research-themes/gps/quality-control/visual-software/