Low-cost GNSS Heading Determination with Fixed Baseline Constraints
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摘要: GNSS测向是导航领域提供航向信息的重要手段。当前高性能GNSS测向产品精度可达0.20(°)/m，满足多数应用领域的需求，但其高昂的万元级成本阻碍了大众市场推广。而低成本GNSS接收机的观测量冗余度与质量均弱于高性能GNSS接收机，导致其测向精度与可靠性易受复杂环境影响。为提升低成本GNSS测向性能，本文提出固定基线约束的低成本GNSS测向方法。该方法利用双天线间固定基线约束信息，基于几何基线后验方差-协方差信息构建实时动态检验阈值，可有效增加整周模糊度解算成功率，从而提升低成本GNSS测向的精度与可靠性。通过实测动态数据对所提方法进行测试，与传统方法对比，整周模糊度固定成功率提升了7%，达到了0.40(°)/m的测向精度。Abstract: Objectives: Global Navigation Satellite System (GNSS) heading determination is an important technology in the field of navigation. At present, the accuracy of high-performance GNSS heading determination receivers can reach 0.20(°)/m, which can satisfy the requirements of most applications, but the cost of 10, 000 yuan hinders the mass market promotion. However, the observation redundancy and quality of the low-cost GNSS receivers are weaker than those of the high-performance GNSS receiver, which makes the heading determination accuracy and reliability of the low-cost GNSS receiver vulnerable to complex environments. Methods: In order to improve the performance of low-cost GNSS heading determination, a low-cost GNSS heading determination method with fixed baseline constraints is proposed in this paper. The method deploys fixed baseline constraints between the dual antennas and constructs real-time dynamic detection thresholds based on a posteriori variance-covariance of geometric baseline, which can effectively increase the success rate of integer ambiguity resolution, thus improving the accuracy and reliability of low-cost GNSS heading determination. Results: The proposed method was tested with real kinematic data. Compared to the traditional methods, the success rate of the integer ambiguity resolution was improved by 7%, and the heading determination accuracy of 0.4 (°)/m was achieved. Conclusions: It is shown that the low-cost GNSS vectoring method with fixed baseline constraints proposed in this paper can effectively increase the success rate of whole-period ambiguity solution and improve the accuracy and reliability of low-cost GNSS vectoring.
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