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WANG Yangyang, WANG Zhongyuan, HU Chao, YU Zhihao. Vehicle Attitude Estimation Model Using Optimized Time-Differenced Carrier Phase[J]. Geomatics and Information Science of Wuhan University. doi: 10.13203/j.whugis20200571
Citation: WANG Yangyang, WANG Zhongyuan, HU Chao, YU Zhihao. Vehicle Attitude Estimation Model Using Optimized Time-Differenced Carrier Phase[J]. Geomatics and Information Science of Wuhan University. doi: 10.13203/j.whugis20200571

Vehicle Attitude Estimation Model Using Optimized Time-Differenced Carrier Phase

doi: 10.13203/j.whugis20200571
Funds:

The National Key Research and Development Program of China(2016YFB0502102)

  • Received Date: 2020-10-28
  • Objectives: To solve the problems of high cost and high complexity of the traditional estimation method of the moving vehicles attitude angle, a innovative vehicle heading and pitch estimation model based on optimized time-differenced carrier phase is proposed. Methods: Firstly, this model only uses the observation data of one GNSS receiver to obtain accurate vehicle displacement vector using a low-complexity algorithm, time-differenced carrier phase. Then, the vehicle heading and angle are estimated using accurate displacement vector. Among them, in order to improve the estimation efficiency, the model optimizes the traditional time-differenced carrier phase algorithm. Results: Static and dynamic tests show that:(1) The optimized time-differenced carrier phase is more efficient than the general carrier phase time-difference, and the processing time can be saved by about 40%. (2) The proposed heading and pitch estimation model can provide accurate heading and pitch, whose root mean square error is less than 0.2ånd maximum error is less than 1.5°. (3) The accuracy of the model will not be affected by the accumulation of errors within one hour. Conclusions: This model uses only one receiver to obtain heading and pitch of moving vehicles, which has the advantages of high accuracy, low cost, low complexity and high efficiency.
  • [1] Raskaliyev A, Patel S H, Sobh T M, et al. GNSS-Based Attitude Determination Techniques-A Comprehensive Literature Survey[J]. IEEE Access, 2020,8:24873-24886
    [2] Alban S. Design and performance of a robust GPS/INS attitude system for automobile applications[D]. Stanford University, 2004
    [3] Sun R, Cheng Q, Wang J. Precise vehicle dynamic heading and pitch angle estimation using time-differenced measurements from a single GNSS antenna[J]. GPS Solutions, 2020,24:84
    [4] Evans A G. Roll, pitch, and yaw determination using a global positioning system receiver and an antenna periodically moving in a plane[J]. Marine Geodesy, 1986,10(1):43-52
    [5] Groves P D, Handley R J, Parker S T. Vehicle Heading Determination using only Single-antenna GPS and a Single Gyro:Proceedings of the 22nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009)[C], 2009
    [6] Bahder T B. Attitude determination from single-antenna carrier-phase measurements[J]. Journal of applied physics, 2002,91(7):4677-4684
    [7] No H, Cho A, Han Y, et al. Attitude determination method using single-antenna GPS Gyro and Magnetometer[J]. Asia-Pacific International Symposium on Aerospace Technology, 2012
    [8] (宁津生, 王华, 程鹏飞, 等. 2000国家大地坐标系框架体系建设及其进展[J]. 武汉大学学报(信息科学版), 2015,40(5):569-573)

    Ning Jinsheng, Wang Hua, Cheng Pengfei, et al. System Construction and Its Progress of China Geodetic Coordinate System 2000[J].Geomatics and Information Science of Wuhan University, 2015,40(5):569-573
    [9] Graas F, Soloviev A. Precise Velocity Estimation Using a Stand-Alone GPS Receiver[J]. Navigation, 2004,51(4):283-292
    [10] Ding W, Wang J. Precise Velocity Estimation with a Stand-Alone GPS Receiver[J]. Journal of Navigation, 2011,64(2):311-325
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Vehicle Attitude Estimation Model Using Optimized Time-Differenced Carrier Phase

doi: 10.13203/j.whugis20200571
Funds:

The National Key Research and Development Program of China(2016YFB0502102)

Abstract: Objectives: To solve the problems of high cost and high complexity of the traditional estimation method of the moving vehicles attitude angle, a innovative vehicle heading and pitch estimation model based on optimized time-differenced carrier phase is proposed. Methods: Firstly, this model only uses the observation data of one GNSS receiver to obtain accurate vehicle displacement vector using a low-complexity algorithm, time-differenced carrier phase. Then, the vehicle heading and angle are estimated using accurate displacement vector. Among them, in order to improve the estimation efficiency, the model optimizes the traditional time-differenced carrier phase algorithm. Results: Static and dynamic tests show that:(1) The optimized time-differenced carrier phase is more efficient than the general carrier phase time-difference, and the processing time can be saved by about 40%. (2) The proposed heading and pitch estimation model can provide accurate heading and pitch, whose root mean square error is less than 0.2ånd maximum error is less than 1.5°. (3) The accuracy of the model will not be affected by the accumulation of errors within one hour. Conclusions: This model uses only one receiver to obtain heading and pitch of moving vehicles, which has the advantages of high accuracy, low cost, low complexity and high efficiency.

WANG Yangyang, WANG Zhongyuan, HU Chao, YU Zhihao. Vehicle Attitude Estimation Model Using Optimized Time-Differenced Carrier Phase[J]. Geomatics and Information Science of Wuhan University. doi: 10.13203/j.whugis20200571
Citation: WANG Yangyang, WANG Zhongyuan, HU Chao, YU Zhihao. Vehicle Attitude Estimation Model Using Optimized Time-Differenced Carrier Phase[J]. Geomatics and Information Science of Wuhan University. doi: 10.13203/j.whugis20200571
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