越于陀螺仪/BDS的多K行器编队相对定姿方法

It is an important trend in the future aviation field that multi-aircraft formation has strong multi operation ability, high reliability and high efficiency. Continuous and high-precision relative attitude information is essential for formation maintenance or reconstruction, which requires higher accuracy and continuity of relative attitude determination. In order to improve the accuracy and continuity of relative attitude determination, a relative attitude determination scheme based on gyroscope/BDS is designed. BDS differential technology is used to eliminate the common error of carrier phase, and high-precision double difference carrier phase is used to update the measurement, which improves the relative attitude determination accuracy. At the same time, based on the relative attitude model between two aircrafts, the angular velocity measured by gyroscope is used for one-step prediction to solve the problem that the relative attitude determination cannot be gotten when BDS is not available and can improve the continuity of relative attitude determination. Simulation results show that the proposed scheme can achieve high-precision relative attitude determination, and still has high-precision relative attitude determination ability when the number of available satellites is less than four. The research can meet the requirements of multi-aircraft formation for relative attitude determination accuracy and continuity.