Calculation Method of Ship Attitude Angle Based on RAEKF and DGPS

Existing DGPS-based pose-fixing algorithms cannot solve the problem that GPS signals have no solution when they are disturbed and are easily affected by gross errors in GPS data. This paper proposes a carrier attitude measurement method based on RAEKF and DGPS, researches the attitude measurement principle of carrier phase differential GPS, analyzes the defects of existing pose determination algorithms, and proposes a RAEKF algorithm that is not affected by the lack of GPS data and gross errors. Improved GPS positioning accuracy and reliability.