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Method for assisting double-antenna measuring unit in determining integer ambiguity and heading by gyroscope

A technology of whole-circle ambiguity and measurement unit, applied in the field of satellite positioning and orientation, can solve the problems of low precision and decreased angular accuracy of measurement, and achieve the effect of improving time coverage, reducing time, and reducing the scope of search

Active Publication Date: 2012-06-20
OLINKSTAR CORP
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Problems solved by technology

That is to say, as time goes by, the accuracy of the measured angle will decrease; with the real-time assistance of other non-continuous angle measuring units, the MEMS gyroscope can give continuous, low Accuracy of angle measurements

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  • Method for assisting double-antenna measuring unit in determining integer ambiguity and heading by gyroscope
  • Method for assisting double-antenna measuring unit in determining integer ambiguity and heading by gyroscope
  • Method for assisting double-antenna measuring unit in determining integer ambiguity and heading by gyroscope

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Embodiment Construction

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0033] Coordinate system involved in the present invention:

[0034] (1) Carrier coordinate system (B): the origin is defined at the center of the carrier, its x-axis is defined as the right direction of the carrier, its y-axis is defined as the forward direction of the carrier, and its z-axis is defined as the upper direction of the carrier;

[0035] (2) Gyro installation coordinate system (Fix): the origin is defined at the center of the carrier, and its x, y, and z axes are respectively defined as the three axes of the gyro;

[0036] (3) Geographic coordinate system (N): the origin is defined at the center of the carrier, its x-axis is defined as east, its y-axis is defined as north, and its z-axis is defined as sky;

[0037] In order to smoothly use the gyroscope to obtain the real-time rough heading of the carrier, it is assumed that the pitch angle of th...

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Abstract

The invention provides a method for assisting a double-antenna measuring unit in determining integer ambiguity and heading by a gyroscope. In the process of determining the integer ambiguity through carrier phase double-differenced measurement, the searching range of the integer ambiguity can be reduced by utilizing rough heading assistance provided by the gyroscope, the ambiguity can be solved by using one epoch, and the real-time heading of a motion carrier can be solved. The method comprises the following steps: firstly, the double-antenna measuring unit searches and solves to obtain an initial precise heading, and the initial precise heading is input to the gyroscope after being successfully solved; the gyroscope receives an initial precise heading value solved by the double-antenna measuring unit, and integrals are calculated through a measured angular velocity to obtain a heading estimation value after several periods of time; and the double-antenna measuring unit acquires the heading estimation value from the gyroscope at an epoch in which heading solving requires to be carried out, and the heading estimation value is utilized to assist the solving of the integer ambiguity and the heading.

Description

technical field [0001] The invention relates to the technical field of satellite positioning and orientation, in particular to a method for determining the ambiguity of the entire circumference and the heading by a gyro-assisted dual-antenna measuring unit. Background technique [0002] The attitude information of the carrier is an important parameter of the navigation system. The inertial navigation system has the characteristics of complete autonomy, strong confidentiality, no electromagnetic interference of signals, all-weather, flexible maneuvering, and high data rate, and can output the attitude information of the carrier. It is the core component of the inertial navigation system to output the attitude information of the carrier. It is used to measure the angular velocity of the carrier. When the initial value of the angle is known at a certain moment, the angular velocity measured by the gyroscope can be used to calculate the angular velocity after a certain time. Ang...

Claims

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Application Information

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IPC IPC(8): G01S19/55G01C21/24
Inventor 不公告发明人
Owner OLINKSTAR CORP
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