Method for calculating attitude angle and apparatus therefor

Patent metadata

Field	Value
Publication number	US-2018011202-A1
Application number	US-201615202739-A
Country	US
Kind code	A1
Filing date	Jul 6, 2016
Priority date	Jul 6, 2016
Publication date	Jan 11, 2018
Grant date	—

Abstract

A method for calculating an attitude angle and an apparatus therefor are provided. The method includes: detecting a satellite signal by using a first antenna array to obtain a plurality of first input signals, detecting the satellite signal by using a second antenna array to obtain a plurality of second input signals, performing a phase operation according to the plurality of first input signals to generate a plurality of first output signals, performing the phase operation according to the plurality of second input signals to generate a plurality of second output signals, obtaining a relative attitude angle according to the plurality of first output signals and the plurality of second output signals, obtaining an absolute attitude angle from the satellite signal, and generating an actual attitude angle of a vehicle according to the absolute attitude angle and the relative attitude angle.

First claim

What is claimed is:

1 . A method for calculating an attitude angle, applicable to a vehicle, wherein the method comprises:
detecting a satellite signal by using a first antenna array to obtain a plurality of first input signals; detecting the satellite signal by using a second antenna array to obtain a plurality of second input signals; performing a phase operation according to the plurality of first input signals to generate a plurality of first output signals; performing the phase operation according to the plurality of second input signals to generate a plurality of second output signals; obtaining a relative attitude angle according to the plurality of first output signals and the plurality of second output signals; obtaining an absolute attitude angle from the satellite signal; and generating an actual attitude angle according to the absolute attitude angle and the relative attitude angle.

2 . The method for calculating an attitude angle according to claim 1 , wherein the plurality of first input signals comprise a first radio frequency signal and a second radio frequency signal, the plurality of first output signal comprise a first combined signal, a second combined signal, a third combined signal, and a fourth combined signal, and the step of performing the phase operation according to the plurality of first input signals to generate the plurality of first output signals further comprise:
generating a first phase shift signal according to the second radio frequency signal, wherein there is a phase difference of 90° between the first phase shift signal and the second radio frequency signal; generating the first combined signal and the second combined signal according to signal strength of the first radio frequency signal and signal strength of the second radio frequency signal, wherein signal strength of the first combined signal equals a sum of the signal strength of the first radio frequency signal and the signal strength of the second radio frequency signal, and signal strength of the second combined signal equals a difference between the signal strength of the first radio frequency signal and the signal strength of the second radio frequency signal; and generating the third combined signal and the fourth combined signal according to signal strength of the first radio frequency signal and signal strength of the first phase shift signal, wherein signal strength of the third combined signal equals a sum of the signal strength of the first radio frequency signal and the signal strength of the first phase shift signal, and signal strength of the fourth combined signal equals a difference between the signal strength of the first radio frequency signal and the signal strength of the first phase shift signal.

3 . The method for calculating an attitude angle according to claim 2 , wherein the plurality of second input signals comprise a third radio frequency signal and a fourth radio frequency signal, the plurality of second output signal comprise a fifth combined signal, a sixth combined signal, a seventh combined signal, and an eighth combined signal, and the step of performing the phase operation according to the plurality of second input signals to generate the plurality of second output signals further comprises:
generating a second phase shift signal according to the fourth radio frequency signal, wherein there is a phase difference of 90° between the second phase shift signal and the fourth radio frequency signal; generating the fifth combined signal and the sixth combined signal according to signal strength of the third radio frequency signal and signal strength of the fourth radio frequency signal, wherein signal strength of the fifth combined signal equals a sum of the signal strength of the third radio frequency signal and the signal strength of the fourth radio frequency signal, and signal strength of the sixth combined signal equals a difference between the signal strength of the third radio frequency signal and the signal strength of the fourth radio frequency signal; and generating the seventh combined signal and the eighth combined signal according to signal strength of the third radio frequency signal and signal strength of the second phase shift signal, wherein signal strength of the seventh combined signal equals a sum of the signal strength of the third radio frequency signal and the signal strength of the second phase shift signal, and signal strength of the eighth combined signal equals a difference between the signal strength of the third radio frequency signal and the signal strength of the second phase shift signal.

4 . The method for calculating an attitude angle according to claim 3 , wherein the step of detecting the satellite signal by using the first antenna array to obtain the plurality of first input signals comprises:
detecting the satellite signal by using a first antenna in the first antenna array to obtain the first radio frequency signal; and detecting the satellite signal by using a second antenna in the first antenna array to obtain the second radio frequency signal, wherein the first antenna and the second antenna are disposed in a first axial direction; and wherein: the step of detecting the satellite signal by using the second antenna array to obtain the plurality of second input signals comprise: detecting the satellite signal by using a third antenna in the second antenna array to obtain the third radio frequency signal; and detecting the satellite signal by using a fourth antenna in the second antenna array to obtain the fourth radio frequency signal, wherein the third antenna and the fourth antenna are disposed in a second axial direction, and the second axial direction is perpendicular to the first axial direction.

5 . The method for calculating an attitude angle according to claim 3 , wherein the step of obtaining the absolute attitude angle from the satellite signal comprises obtaining the absolute attitude angle from ephemeris data carried in the plurality of first input signal and the plurality of second input signal.

6 . The method for calculating an attitude angle according to claim 3 , wherein the step of obtaining the absolute attitude angle from the satellite signal comprises detecting the satellite signal by using a fifth antenna to obtain a third input signal and obtaining the absolute attitude angle from ephemeris data carried in the third input signal.

7 . The method for calculating an attitude angle according to claim 3 , wherein the step of obtaining a relative attitude angle according to the plurality of first output signals and the plurality of second output signals further comprises:
detecting the signal strength of the first combined signal by a first positioning module to generate first signal strength; detecting the signal strength of the second combined signal by a second positioning module to generate second signal strength; detecting the signal strength of the third combined signal by a third positioning module to generate third signal strength; detecting the signal strength of the fourth combined signal by a fourth positioning module to generate fourth signal strength; detecting the signal strength of the fifth combined signal by a fifth positioning module to generate fifth signal strength; detecting the signal strength of the sixth combined signal by a sixth positioning module to generate sixth signal strength; detecting the signal strength of the seventh combined signal by a seventh positioning module to generate seventh signal strength; detecting the signal strength of the eighth combined signal by an eighth positioning module to generate eighth signal strength; and generating the relative attitude angle according to a first incident angle corresponding to the first

Assignees

• Getac Technology Corp

Inventors

• Chen Hung-Tu

Classifications

• G01S19/53 Primary

  Determining attitude · CPC title