Abstract
In the article, the theory of optimal filtering of information processes is used to synthesize optimal one-stage estimation algorithm for the object orientation angles using the signals of the satellite navigation system. The article also provides equations of optimal filtering, as well as their representation in the form of the tracking system comprising of an orientation angles discriminator and a smoothing filter. The synthesized algorithm has no tracking systems for the phases of the received signals (or phase differences) and the procedures for resolving the ambiguity of phase measurements that enhance its noise immunity while maintaining high precision in estimating the orientation angles. The article provides expressions for the calculation of the Cramer-Rao lower limit for the dispersion errors matrix for estimating object orientation angles when receiving signals of an arbitrary number of navigation satellites. The results of the simulation of the synthesized system are provided in the study.
Highlights
Satellite navigation systems are widely used for a variety of technical problems, including extracting information from the phase of the received signals (Misra and Enge, 2012; Kaplan and Hegarty, 2006)
The approach is because the signals coming from the navigation satellite in two spaced points have a phase shift depending on the angle between the reference line connecting the two points of reception and the direction of arrival of the satellite navigation signal
Let us consider a geocentric coordinate system OXYZ rigidly connected with the Earth (1) and the triangle ABC defining the reference plane, which bind tightly Coordinate System (CS) Oc Xc Yc Zc, the centre of which Oc lies in the plane ABC, axis Oc Xc is directed along the line AB, axis Oc Yc lies in the reference plane, axis Oc Zc completes the system of coordinates to the right hand
Summary
Satellite navigation systems are widely used for a variety of technical problems, including extracting information from the phase of the received signals (Misra and Enge, 2012; Kaplan and Hegarty, 2006). One of such application is the determination of the orientation angles of the object on the signals of satellite radio navigation system, taken spaced points (Cohen, 1992; Parkinson and Spilker, 1996). Various algorithms for ambiguity resolution of phase measurements are presented extensively in literature (Povalyaev, 2008; Lipkin, 2008; Boriskin et al, 2010; Perov and Kharisov, 2010; Knight, 1994; Hodgart and Purivigraipong, 2000; Lin et al, 2004; Verhagen and Teunissen, 2006)
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