Attitude angle detecting apparatus
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United States of America Patent
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Sep 14, 2004
Grant Date -
Aug 14, 2003
app pub date -
Feb 3, 2003
filing date -
Feb 12, 2002
priority date (Note) -
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status (Latency Note)
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Abstract
An attitude angle detecting apparatus receives radio waves transmitted from a plurality of position-fixing satellites with multiple antennas located at specific positions of a mobile unit, determines relative positions of the antennas and detects the heading and attitude of the mobile unit by determining carrier phase ambiguities quickly and accurately. When it is needed to redetermine integer ambiguities after recovery from an interruption of the radio waves from the position-fixing satellites or as a result of a change in combination of the position-fixing satellites, for example, the attitude angle detecting apparatus redetermines the integer ambiguities by using attitude angles and an attitude angle error covariance obtained from previous observation. This enables the attitude angle detecting apparatus to uninterruptedly obtain information on the heading and attitude of the mobile unit.
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