User Manual
Contents
1. Attitude parameters based on linearized least squares adjustment Mean 51 5634 Std 0 5926 Yaw deg 100 150 200 250 300 Epoch Mean 26 1053 Std 0 6460 DERE 4 b 2 2 2 E BDF 8 o oe em En he denne CERSEI ppmrerwrerec gb ede o 3499 50 100 150 200 250 300 Epoch MMean 38 8712 Std 0 6531 SEE pee 1 36 21 2 38 70 p 4 e EREE 5 39 35 i 3993 m So 100 150 200 250 300 Epoch Step 11 Finally the results from direct attitude computation and from least square estimation are saved into a data file named Results txt This file is also displayed on the screen 27 Aug 2008 16 51 6 Observation data of 1 antenna Observation data of 2 antenna C AttDet TestData Master 060O C AttDet TestData Slave_1 06O0 Observation data of 3 antenna C AttDet TestData Slave_2 060 Observation data of 4 antenna C AttDet TestData Slave_3 060 Ephemerides data C AttDet TestData Navigation 06N Common epoch 385 Number of antennas valid baselines 4 Smoothing interval 100 epochs Elevation mask angle 10 degree Result from direct attitude determination using CODE ROLL 24 440 ROLL 24 484 ROLL 24 437 ROLL 24 415 ROLL 24 375 ROLL 24 382 ROLL 24 340 ROLL 24 365 ROLL 24 381 ROLL 24 397 ROLL 24 434 ROLL 24 429 ROLL 24 447 01 44 30 00 gt YAW 50 875 01 44 31 00 gt YAW 50 886 01 44 32 00 gt YAW 50 862 01 44 33 00 gt YAW 50 8412. 01 44 34 00 gt YAW 50 823 01 44 35 00 gt YAW 50 830 01 44 36 00 gt YAW 50 838 01 44 37 00 gt YAW 50 872 01 44 38 00 gt YAW 50 879 01 44 39 00 gt YAW 50 892 01 44 40 00 gt YAW 50 918 01 44 41 00 gt YAW 50 925 01 44 42 00 gt YAW 50 937 At Epoch 2006 10 29 At Epoch 2006 10 29 At Epoch 2006 10 29 At Epoch 2006 10 29 At Epoch 2006 10 29 At Epoch 2006 10 29 At Epoch 2006 10 29 At Epoch 2006 10 29 At Epoch 2006 10 29 At Epoch 2006 10 29 At Epoch 2006 10 29 At Epoch 2006 10 29 At Epoch 2006 10 29 O x 350 Ske Sa 350 p l PITCH 38 319 PITCH 38 332 PITCH 38 339 PITCH 38 338 PITCH 38 325 PITCH 38 297 PITCH 38 290 PITCH 38 280 PITCH 38 251 PITCH 38 220 PITCH 38 200 PITCH 38 182 PITCH 38 166 5 Execution of demo program based on carrier phase A demo program processing carrier phase data 1s also provided in the toolbox It has the following variations compared to the above mentioned program employing only the code data 1 The main program to be invoked is called mainpro_ph m The short extension of _ph reveals that the program is carrier phase oriented 2 A matrix file named ambiguity mat is needed which contains the ambiguities in cycles Since the visible satellites do not change during the observation session only one ambiguity set for each antenna is saved 3 The function performing differential positioning based on carrier phase has
3. a slight difference with that based on code data That is the ambiguities appear as the input parameters of the functions Note that the ambiguities are just resolved for this demo program with all parameters exactly identified as described in section 4 To employ the carrier phase of users data sets the ambiguities have to be resolved by the users first saved into another matrix file and incorporated into the function of differential positioning The user can check the source code of mainpro_ph m to figure out how to incorporate the ambiguities and carrier phase data Step 1 Make sure that you have run the demo program to process the C A code data by going through all the steps in section 4 Step 2 Open the file mainpro_ph m in MATLAB and run it Step 3 The attitude parameters are shown on the screen and saved at the end of the data file Results txt Attitude parameters based on direct computation 0 x Wean 51 7656 Std 0 0050 Yaw deg 100 150 200 250 S00 350 Epoch Mean 26 20435 Std 0 0106 Pitch deg bJ D bJ Co a 100 150 200 250 S00 350 Epoch Mean 39 0752 Std 0 0075 Rall deg O x ee Ce ee ee ee ee en ee oe Ea Yaw deg s0 100 150 200 250 300 350 Epoch Mean 26 2520 Std 0 0100 Fitch deg s0 100 150 200 250 300 350 Epoch Mean 39 0946 Std 0 0070 330 39 08 39 09 39 10 E 3911 50 100 150 200 250 300 350 Epoch At Epoch 2
4. common data rate 4 It is recommended to identify the total epochs to be processed otherwise the program implements no initialization of the matrix recording the observation data In this case if the total number of the observation data is too large the processing then becomes very slow 5 Since the carrier phase smoothing will be performed a preprocessing is therefore proposed to check the cycle slips 6 Some special configurations of antennas may yield unexpected result For example singularity problem when some values of the antenna body frame tend toward to 0 7 For the least squares attitude estimation the initial guess of yaw roll and pitch can be obtained from the direct attitude computation yielding an improved efficiency 8 As is known the RINEX observation files provided by different GPS receiver manufactures have slight variations in the format and also in the content The function used for the RINEX file analysis may not work properly when reading some RINEX observation files as we can not taken all possible examples into account 9 The time span of the RINEX navigation file cannot override 1 day 10 The following internal files will be overwritten by each execution of the toolbox Remarks DataGUI mat This file contains the parameters inputted from GUI DataSatRecordx mat x is a number ranging from 1 to n implying the n antennas Each file contains the GPS measurement and satellite visibility of a
5. specific antenna Results txt Calculated attitude parameters resulted from the multiple antenna data 11 The source codes are developed based on MATLAB Version 7 4 0 287 R2007a under Windows XP It may not work properly when running on the lower version MATLAB or under other operation systems 7 Support Any suggestions corrections and comments about this toolbox are sincerely welcomed and could be sent to Zhen Dai Email dai zess uni siegen de Phone 49 0 271 740 2718 Fax 49 0 271 740 4018 Address Center for Sensor Systems ZESS University of Siegen Paul Bonatz Str 9 11 D 57068 Siegen Germany
6. 006 10 29 01 50 49 00 gt YAW 51 756 ROLL 26 281 PITCH 39 081 At Epoch 2006 10 29 01 50 50 00 gt YAW 51 762 ROLL 26 273 PITCH 39 079 At Epoch 2006 10 29 01 50 51 00 gt YAW 51 766 ROLL 26 294 PITCH 39 084 At Epoch 2006 10 29 01 50 52 00 gt YAW 51 765 ROLL 26 280 PITCH 39 084 At Epoch 2006 10 29 01 50 53 00 gt YAW 51 773 ROLL 26 278 PITCH 39 080 Result from least squares estimation using carrier phase At Epoch 2006 10 29 01 44 30 00 gt YAW 51 680 ROLL 26 258 PITCH 39 098 At Epoch 2006 10 29 01 44 31 00 gt YAW 51 677 ROLL 26 264 PITCH 39 089 At Epoch 2006 10 29 01 44 32 00 gt YAW 51 677 ROLL 26 260 PITCH 39 100 At Epoch 2006 10 29 01 44 33 00 gt YAW 51 681 ROLL 26 251 PITCH 39 093 At Epoch 2006 10 29 01 44 34 00 gt YAW 51 677 ROLL 26 249 PITCH 39 089 At Epoch 2006 10 29 01 44 35 00 gt YAW 51 681 ROLL 26 265 PITCH 39 084 At Epoch 2006 10 29 01 44 36 00 gt YAW 51 673 ROLL 26 244 PITCH 39 084 Troubleshooting 1 Baselines do not need to be specified In this case please assign O to all baseline items and then the direct attitude computation will be applied If you want to use the least squares attitude estimation you have to identify all the baselines 2 The program terminates when an interruption occurred in the RINEX observation file Here interruption implies that the GPS measurements of some epochs are completely missing 3 Make sure that the selected RINEX observation files have a proper
7. Toolbox for attitude determination with a multiple antenna system using GPS User Manual Written by Zhen Dai September 2008 eg Center for Sensor Systems ZESS University of Siegen Germany 1 2 Installation of the program package e Download the ZIP file from the internet e Extract all files into a directory e Make sure that you have MATLAB installed on your computer Introduction to GUI hi es Attitude determination Last modified 20 Oct 2008 Contact Zhen Da dai zess ini siegeri de Baselines for antenna 1 2 3 m 2 E Boo m mian Antena 1 Baselines for redundant antennas m Load RINEX Observation Oooo ooo RU Load SINEX Navigation Ts Smoothing interval epochs Default 100 RESET ose files files are required Load RINEX aan files Static Show the RINEX Only one navigation file is needed Since the textbox navigation file multiple antennas are closely distributed they probably share a common RINEX navigation file Button Load RINEX rot file and then the user should re input all files In the unit of epochs Can also be 0 implying smoothing interval that there is actually no smoothing applied ia hia Epochs to be processed If a positive number is given say n the program accounts for the measurement at the first n epochs of each RINEX observation file In other cases the program will process all the data embedded
8. et tCCd Step 5 After the single point positioning differential positioning is performed to construct the baselines between the master antenna and the slave antennas Diferential processing 34 a Step 6 Obtained the estimated baselines the magnitudes of three dimensional baseline errors are depicted for example for the baseline between antenna 1 and 3 Estimated baseline between antenna 1 and 3 E Ioj x 0 25 0 2 0 15 0 1 0 05 0 0 05 0 1 Magnitude of baseline error m 0 15 0 2 0 25 0 Step 7 Knowing the estimated baselines the direct attitude computation will be invoked first ir xi Direct attitude computation 00 Step 8 The attitude parameters obtained from direct attitude computation are illustrated Attitude parameters based on direct computation Joj xj Mean 51 5249 Std 0 3805 Pae 51 83 51 50 51 16 50 82 50 100 150 200 250 300 350 Epoch Mean 25 9625 Std 1 0756 Pitch deg s0 100 150 200 250 300 350 Epoch Mean 39 0201 Std 0 6356 ee ee ee ee ee eee ee ee eee eer Se ee ee 7 a Rall deg 50 100 150 200 250 300 350 Epoch Step 9 The next step is to identify the antenna body frame from the given true baselines After that the least squares attitude estimation is then invoked S o Least squares attitude determination 34 a Step 10 The results from least squares attitude determination approach are also shown
9. in the files Textbox Elevation mask angle Scaled to degrees This is only used for the master antenna to cancel some low elevation satellites due to their large atmospheric error and multipath error 2 sui Su the prog a are denied __ Group of Baselines of the All baselines are magnitude in meters textboxes redundant antennas Row Column Baseline of Antenna and 4 Antenna 2 and 4 Antenna 3 and 4 Antenna 1 and 5 Antenna 2 and 5 Antenna 3 and 5 Antenna and 6 Antenna 2 and 6 Antenna 3 and 6 l l l 2 l 3 2 l 2 2 2 3 3 l 3 2 3 3 Load the ReadMe file antenna 1 and 3 cs antenna 2 and 3 antenna and 2 3 Run the demo program Step 1 Run the file ControlPanel m in MATLAB a GUI is shown in the middle of the screen Step 2 Click Button 2 Load RINEX Observation to identify the RINEX observation files The files are saved in the subdirectory TestData under the same main directory of the toolbox To do this please select the four files in the following order Master 06O Slave_ 1 060 Slave 2 060 Slave 3 060 Do not confuse the order of these files otherwise it will provide unexpected results The selected files are displayed in the listbox 1 Step 3 Click Button 4 Load RINEX Navigation to identify the RINEX navigation file named Navigation O6N This file is saved in the same subdirectory as the observation files It will be displayed in the listbox 3 after being
10. selected Step 4 lf you made mistakes when selecting files please click the button 5 to reset the input Step 5 Now input the magnitudes of baselines between the first three antennas Textbox 12 16 192 Textbox 13 21 733 Textbox 14 23 140 Step 6 Input the baselines between additional antennas Now input 9 910 15 219 and 18 103 from left to right in the first row respectively Step 7 Input 100 in the textbox 6 Step 8 Input 400 in the textbox 7 Step 9 Input 10 in the textbox 8 Step 10 All the inputs are accomplished Click button 9 Run to start the data processing 4 Execution of demo program Step 1 Read and analyze the RINEX files Processing RINEX observation file 1 iF oj x 100 epochs processed 200 epochs processed S00 epochs processed 400 epochs processed Step 2 After the 4 RINEX observation files and the RINEX navigation file are completely analysed a short summary is shown LE XI Analysis of Rines files ie finished Common epoch 385 Number of antennas valid baselines 4 Smoothing interval 100 epochs Elevation mask angle 10 degree Data processing starts in 5 seconds please check the progress Step 3 The carrier phase smoothing is carried out ee Code data of satellite PEN 29 have been smoothed Step 4 Then the single point positioning is applied for the master antenna CE ix single point positioning 54 Slt lt
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