Roll Angle Measurement Method Based on Timing of Peak GNSS Signal Power

Rolling vehicles, typified by spin-stabilized projectiles, require precise roll angle measurement during motion to achieve attitude control. Utilizing Global Navigation Satellite Systems (GNSS) for rolling vehicle attitude measurement offers advantages including low cost, compact size, and high accuracy; this paper accordingly proposes a novel roll angle measurement method based on detecting the timing of peak satellite signal power occurrence. By establishing a mapping relationship between roll angle and peak satellite signal power timing while implementing the Unscented Kalman Filter (UKF) algorithm, we develop an optimal roll angle estimation model for rotating platforms, with validation achieved through processing experimental data from indoor rolling vehicle tests. Experimental results confirm that the presented satellite power peak-based measurement method can rapidly estimate vehicle roll angle, thereby providing valuable reference for designing GNSS-based attitude determination systems for rolling vehicles.