A Real-Time Attitude Determination Approach for Land Navigation Based on GPS/Gyroscope Integration

It is wasteful to use a GNSS/INS integrated system for land navigation.Multi-antenna GNSS attitude determination is closely related to the baseline length and is confronted with the ambiguity fixing problem. This paper proposes a single-antenna GNSS /gyroscope integrated attitude determination method that meets this challenge. The three attitude parameters are firstly calculated bysingle-antenna GNSS and then the key parameter in land navigation，the heading angle，the gyro information，and GNSS-derived heading are integrated. The accuracy degration problem in single-antenna GNSS during the stationary or low-velocity conditions is investigated and solved during the integration filtering process.The filtering model for GNSS/Gyro integration is derived;gyro information is used as the control input in the state model and the GNSS heading angle is measured. Experimental results show that，the accuracy and reliability of the GNSS/Gyro heading is much higher using the proposed method than that of GNSS attitude determination alone.