GPS multi-antenna attitude determination method

Abstract

The invention aims at providing a GPS multi-antenna attitude determination method. The method comprises the following steps: firstly GPS multi-antenna observation data, a GPS satellite ephemeris and the coordinates of antennas on a carrier coordinate system are collected; a smoothing procedure is carried out to C / A code observation data with a carrier wave phase observed value; a carrier platform rough attitude angle, the coordinate of the main antenna in a local horizontal coordinate system, the shared vision satellite elevation angles and direction angles of the antennas and the baseline vector from the main antenna to subordinated antennas in the local horizontal coordinate system are calculated; based on the geometry relations of the baseline vectors among the antennas and the baseline vectors from the satellite to a receiver in the horizontal coordinate system, the single difference integer cycle fuzziness value of different antennas of the same satellite is solved; a reference satellite is selected and a difference operation is carried out to the single difference integer cycle fuzziness value to obtain an integer cycle fuzziness double difference value; the integer cycle fuzziness double difference value obtained is substituted into a carrier wave phase double difference model to obtain accurate coordinate components of the antennas and based on the coordinate components of the antennas, accurate attitude parameters are solved so as to realize GPS multi-antenna attitude determination.

Description

technical field [0001] The invention relates to a method for measuring attitude of a carrier by using a satellite navigation system. Background technique [0002] GPS multi-antenna attitude measurement refers to the use of multiple GPS signal receiving antennas (usually integrated by 3 or 4 GPS antennas) with a certain geometric distribution on the carrier, and the application of certain algorithms and data processing techniques to achieve carrier attitude measurement. Usually, a baseline composed of the distance between two receiving antennas can obtain two attitude angles, and the three-dimensional attitude angle of the carrier can be obtained through two coplanar, non-parallel baselines. However, it is necessary to obtain high-precision yaw in GPS attitude measurement Angle, pitch angle, roll angle, the use of carrier phase observations is essential, and then it is necessary to quickly solve the carrier phase integer ambiguity. [0003] The multi-antenna attitude measure...

AI Technical Summary

Problems solved by technology

At present, the determination methods of the carrier phase integer ambiguity are divided into the following three categories: one is the ambiguity decomposition technology in the observation domain, and the ambiguity decomposition technology of this type is the simplest. Observation determines the carrier phase ambiguity, but the accuracy of C / A code or P code original pseudorange observation usually cannot meet the technical requirements of ambiguity decomposition; the second is the ambiguity search technology in the coordinate domain, which mainly refers to the ambiguity function method. Although it appeared earlier, it has always attracted people's attention. Since the algorithm only uses the non-integer part of the carrier phase observation value, the ambiguity value has nothing to do with the integer ambiguity. However, due to the large amount of calculation of the algorithm, the effect is not good Not good; the third is the search technology of the ambiguity domain, which has become a hot spot in the research of the whole week ambiguity decomposition. The ambiguity resolution method of the wide-lane / narrow-lane method, the former method can be roughly divided into three steps, that is, the floating-point solution calculation of the parameters, the integer ambiguity estimation and the fixed solution calculation of the parameters, and the latter method can be It is said that it is a special case of the former method, which is to seek the optimal special solution in the ambiguity search area

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