Patent ID: 6792380
Filing Date: 2004-09-14
Classification: G01S

Abstract:
An attitude angle detecting apparatus which receives radio waves from a plurality of position-fixing satellites by means of at least two antennas mounted on a mobile unit, one of the antennas being used as a reference antenna, determines the relative position of the antenna other than the reference antenna with respect to the reference antenna, and determines the heading and attitude of the mobile unit from said relative position of the antenna, said attitude angle detecting apparatus comprising:means for observing a single phase difference or a double phase difference and determining an integer ambiguity from the single or double phase difference; means for calculating said relative position from the phase difference of which integer ambiguity has been determined; means for calculating attitude angles of the mobile unit and error covariance of the attitude angles; and integer ambiguity redetermination means for calculating at least one integer ambiguity candidate from the single phase difference for each of the position-fixing satellites or from the double phase difference for each pair of the position-fixing satellites based on the attitude angles and the error covariance of the attitude angles and redetermining the integer ambiguity from the integer ambiguity candidate.