POSITION AND ATTITUDE ESTIMATION SYSTEM OF MOVING OBJECT BY GPS

摘要

PROBLEM TO BE SOLVED: To provide a position and attitude estimation system of a moving object by GPS wherein attitude and position can be estimated simultaneously under a condition that the number of necessary satellites is smaller than the normal number of satellites for GPS (three satellites in a case of two antennas).;SOLUTION: In order to receive radio wave from GPS satellites, at least one pair of antennas 1, 2 fixed on the moving object are fixed. By using a calculating means of position and azimuth of the moving object, positions of the respective antennas and inclination of segment between the antennas are calculated according to a navigation message, psudorange or psudorange and transfer phase, and geometrical condition of the antennas. It is also possible that inclination of segment between the receiving antennas can be calculated by a method wherein correction information from a base station is received by using a correction information receiving means, and phase difference between the receiving antennas and phase difference between the respective receiving antennas and an antenna of the base station are obtained by using the calculating means of position and azimuth of the moving object.;COPYRIGHT: (C)2004,JPO