The vertical component calculation section which calculates the vertical component of the inside base line vector of the component

摘要

PROBLEM TO BE SOLVED: To measure a correct attitude azimuth with the small number of processing, even when the number of visible satellites is small.;SOLUTION: An acceleration attitude calculation part 210 calculates an acceleration attitude value, and a base line vector vertical component calculation part 211 calculates a base line vector vertical component value based on the acceleration attitude value. An integer value bias candidate calculation part 220 calculates an integer value bias candidate by using the base line vector vertical component value. A base line vector candidate calculation part 230 calculates a base line vector primary candidate based on the integer value bias candidate, and a base line vector residue verification part 240 selects a base line vector secondary candidate by double difference residue verification, and a base line vector formed angle verification part 250 selects a base line vector tertiary candidate by formed angle verification. A direction cosine matrix candidate calculation part 260 calculates a direction cosine matrix candidate based on the base line vector tertiary candidate, and a direction cosine matrix attitude calculation part 261 determines a direction cosine matrix based on the acceleration attitude value, and outputs an attitude azimuth initial value 291 calculated based on the determined direction cosine matrix.;COPYRIGHT: (C)2010,JPO&INPIT