METHOD FOR ESTIMATING THE ATTITUDE OF A VEHICLE

A method for estimating the attitude of a vehicle by using a global navigation satellite system having a plurality of satellites, wherein the vehicle comprises at least a first antenna and a second antenna having a separation to each other, comprising the steps of: detecting an outage of said global navigation satellite system; starting a dead- reckoning algorithm in order to extrapolate a change in attitude during the outage of said global navigation satellite system obtaining a dead-reckoned attitude; detecting that said global navigation satellite system has recovered, in particular via the availability of carrier phase observables and calculating a new attitude using the recovered global navigation satellite system by incorporating the obtained dead-reckoned attitude as a starting condition. 一种通过使用具有多个卫星的全球导航卫星系统来估计车辆的姿态的方法，其中，该车辆至少包括彼此具有间隔的第一天线和第二天线，该方法包括以下步骤：检测所述全球导航卫星系统的中断；启动航位推算算法，以便推断在所述全球导航卫星系统的中断期间姿态的变化，从而获取航位推算姿态；检测到所述全球导航卫星系统已恢复，特别是经由载波相位可观测值的可用性；以及通过合并所获取的航位推算姿态作为启动条件，使用已恢复的全球导航卫星系统来计算新姿态。