Orientation attitude determination method oriented to clock synchronization multi-antenna GNSS receiver

Abstract

The invention provides an orientation attitude determination method oriented to a clock synchronization multi-antenna GNSS receiver. The orientation attitude determination method comprises the steps of establishing a high-accuracy orientation attitude determination model oriented to the clock synchronization multi-antenna GNSS receiver, observing a carrier phase and a pseudo-range in real time and providing a data source for the high-accuracy orientation attitude determination model in a real-time data flow mode, determining parameters to be estimated and constraint information, monitoring and repairing cycle slip, fixing a part of or all ambiguity parameters to an integer value by estimating base line vector parameters and floating point carrier phase ambiguity parameters, using base line length information as additional information, and using the base line length information as pseudo-observation values in the base line vector resolving process to constraint the resolving accuracy of base line vectors; converting the base line vectors into a course angle and a pitch angle to be output through coordinate system conversion. The orientation attitude determination method achieves high-accuracy attitude determination through single difference, is simple in algorithm, can be suitable for high-accuracy real-time orientation attitude determination application under static, quasi-static and dynamic conditions, meanwhile is high in algorithm operating efficiency and is suitable for high-dynamic vehicle-mounted orientation attitude determination.

Description

technical field [0001] The invention relates to a high-precision directional attitude measurement technology, in particular to a directional attitude measurement method for a clock-synchronized multi-antenna GNSS receiver. Background technique [0002] Clock-synchronized multi-antenna GNSS (Global Navigation Satellite System, Global Navigation Satellite System) receivers entered the Chinese market on a large scale in 2008. Representative products include the BD982 dual-frequency dual-antenna receiver from Trimble in the United States, and the TRIUMPH-4X from Javad in Europe. 4-antenna receiver, Shanghai Sinan Navigation K528 GPS / Beidou shared clock dual-antenna motherboard and Dongfang Lianxing TOAS100D dual-antenna direction-finding receiver. The multi-antenna receiver reduces the cost of the receiver, and the realization of clock synchronization provides a technical premise for higher-precision navigation applications. It is expected to replace or complement the current mi...

AI Technical Summary

Problems solved by technology

[0003] However, the existing products on the market do not give full play to all the advantages of clock-synchronized multi-antenna GNSS receivers. The directional attitude measurement algorithm still follows the short baseline RTK and double-difference algorithms of two receivers whose clocks are not synchronized. The advantage of clock synchronization is not really used to improve accuracy and efficiency. In theory, clock synchronization equipment can eliminate satellite and receiver clock errors at the same time by using single difference, so it can improve parameter correlation and help quickly fix ambiguity

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