Patent ID: 10197681

Abstract:
A small-sized state calculating device which may acquire a highly-precise state calculation value is provided. The state calculating device may include antennas, receiving parts, a phase difference calculating part and an operation part. The receiving parts may calculate carrier phase measurements PYA, PYB and PYC of GNSS signals received by the antennas, respectively. The phase difference calculating part may set the antennas to be switched between a master antenna and a slave antenna, and calculate the plurality of inter-antenna phase differences ΔζAB, ΔζBC and ΔζCA, for every combination of the master antenna and the slave antenna, using the carrier phase measurements PYA, PYB and PYC. The operation part may calculate an attitude angle AT using the plurality of inter-antenna phase differences ΔζAB, ΔζBC and ΔζCA.