Abstract
In order to estimate the roll angle of a rotating vehicle, an enhanced rotation locked loop (RLL) algorithm is proposed in this paper. The RLL algorithm estimates the roll angle by using the property that the power of the GPS signal measured at the receiver of a rotating vehicle changes periodically. However, in case the received GPS power is decreased, the performance of the conventional RLL algorithm degrades, or it cannot estimate the roll angle anymore, therefore, for operating the RLL algorithm in a weak signal environment, this paper designs a method to increase the signal-to-noise ratio (SNR) by overlapping multiple GPS signals’ correlator outputs and a method to compensate the decreased response of a rotation discriminator at low-signal strength. Through computer simulations, the performance of the proposed algorithm is verified and it is shown that the roll angle can be estimated stably even at a weak signal environment down to 29 dB–Hz of C/N0.
Highlights
The global positioning system (GPS), which provides accurate position, velocity, and time all over the world, has been widely used in a military and civilian areas [1]
This paper proposes an enhanced rotation locked loop (RLL) algorithm, which increases the signal-to-noise ratio (SNR) by overlapping multiple GPS signals’ correlator output and compensates the decreased response of a rotation discriminator in a weak signal environment
In order to estimate the roll angle of a rotating vehicle using received GPS signals in a weak signal environment, an enhanced RLL algorithm is proposed. This algorithm is a method to increase the SNR of correlator output by synchronizing and overlapping multiple GPS signals received at a time and the performance is verified using GPS signals generated by a commercial Spirent simulator
Summary
The global positioning system (GPS), which provides accurate position, velocity, and time all over the world, has been widely used in a military and civilian areas [1]. Proposed a roll angle estimation algorithm using extended Kalman filter with pitch and roll rate measurements and verified the performance for estimating the roll angle by simulations and experiments for the vehicle with a rotating frequency of 1–1.5 Hz. Park et al [6]. Proposed a roll angle estimation algorithm using extended Kalman filter with pitch and roll rate measurements and verified the performance for estimating the roll angle by simulations and experiments for the vehicle with a rotating frequency of 1–1.5 Hz This method needs two rate gyroscopes, and the convergence time is rather large since the Kalman filter should estimates all the state variables.
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