蔡小波, 许厚泽, 王勇, 柴华, 丁磊香. 车载三天线GNSS的直接法定姿及精度评估[J]. 武汉大学学报 ( 信息科学版), 2018, 43(6): 820-825. DOI: 10.13203/j.whugis20160171
引用本文: 蔡小波, 许厚泽, 王勇, 柴华, 丁磊香. 车载三天线GNSS的直接法定姿及精度评估[J]. 武汉大学学报 ( 信息科学版), 2018, 43(6): 820-825. DOI: 10.13203/j.whugis20160171
CAI Xiaobo, XU Houze, WANG Yong, CHAI Hua, DING Leixiang. Direct Attitude Determination Method Based on Vehicle-mounted Three-antenna GNSS and the Accuracy Evaluation[J]. Geomatics and Information Science of Wuhan University, 2018, 43(6): 820-825. DOI: 10.13203/j.whugis20160171
Citation: CAI Xiaobo, XU Houze, WANG Yong, CHAI Hua, DING Leixiang. Direct Attitude Determination Method Based on Vehicle-mounted Three-antenna GNSS and the Accuracy Evaluation[J]. Geomatics and Information Science of Wuhan University, 2018, 43(6): 820-825. DOI: 10.13203/j.whugis20160171

车载三天线GNSS的直接法定姿及精度评估

Direct Attitude Determination Method Based on Vehicle-mounted Three-antenna GNSS and the Accuracy Evaluation

  • 摘要: 针对移动测量系统对载体姿态的需求,对车载三天线全球卫星导航系统(global navigation satellite system,GNSS)的直接法定姿进行了研究。分析了定姿的原理,给出了姿态解算公式,并提出一种简便的方法确定航向角的象限,解决了航向角的多值性问题。为了评估该方法的精度,利用车载的三天线GNSS进行了动态实验,采集了动态观测数据,利用直接法对观测数据进行了姿态解算,并用同车搭载的一套高精度惯性导航系统(inertial navigation system,INS)给出的姿态参考值对三天线GNSS定姿的精度和可靠性进行了评估。结果表明,三天线GNSS直接法定姿精度高、可靠性好,并具有计算简便,可避免奇异性问题等优点。

     

    Abstract: There is a demand for attitude in mobile surveying systems. Thus, a direct attitude determination method based on vehicle-mounted three-antenna global navigation satellite system (GNSS) is proposed. Principles behind attitude determination were analyzed and the formulae for the folution were derived. A simple method is proposed to determine the quadrants of the yaw angles, which solves the multi-value problem. The data from a land vehicle are processed, and a reference attitude from a high-accuracy inertial navigation system (INS) was used to evaluate the accuracy and reliability of the attitude determined from three-antenna GNSS. The results indicate that the attitude determined from three-antenna GNSS can achieve high accuracy and reliability. This method is simple in calculation and avoids the singularity problem.

     

/

返回文章
返回