A Positioning and Attitude Measurement Method Based on Inertial Navigation System and Dual Antenna GPS
An inertial navigation system, dual-antenna technology, used in navigation, mapping and navigation, radio wave measurement systems, etc., can solve the problems of difficult to capture and track satellite carrier signals, and not suitable for long-term navigation.
Active Publication Date: 2019-10-25
重庆重邮汇测通信技术有限公司
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[0003] In order to solve the problems that the detection accuracy of the inertial navigation system and GPS positioning system in the prior art depends mainly on the inertial measurement device, it is not suitable for long-term navigation and it is difficult to capture and track satellite carrier signals when doing high-dynamic movements, etc., the present invention proposes a A Positioning and Attitude Measurement Method Based on Inertial Navigation System and Dual-antenna GPS
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[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort. The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
[0053] attached figure 1 It is a system frame diagram of the positioning and attitude measuring method based on the inertial navigation system and dual-antenna GPS of the present in...
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The invention discloses a positioning posture measuring method based on an inertial navigation system and a double-antenna GPS. The method is characterized by fixedly arranging the inertial navigation system INS and two GPS signal receiving antennas which are distributed in a geometrical structure and correspondingly arranging two receivers; carrying out linearization processing on a carrier wave phase double difference observation equation, using a CLAMBDA algorithm and applying a constrained condition to calculate a least square floating solution of a whole cycle ambiguity a, an estimation value of a baseline vector b and a variance-covariance matrix; simultaneously, using a unconstrained LAMBDA algorithm to search one least square method estimation solution aLLS, according to the estimation solution aLLS and the floating solution, calculating an initial search space size, and acquiring the whole cycle ambiguity a; and through a relation between position coordinates of an end point A and an end point B and a direction vector, solving two-dimensional attitude information of a carrier. The method has advantages that a data storage space is reduced; search efficiency of the whole cycle ambiguity is increased; and integral navigation precision and performance of the system are improved.
Description
technical field [0001] The invention relates to a method for calculating the attitude of a carrier by using a GPS satellite navigation system, in particular to a positioning and attitude measurement method based on an inertial navigation system and a dual-antenna GPS. Background technique [0002] With the rapid development of science and technology, there are many kinds of navigation systems widely used in aviation, spaceflight, navigation and ground carriers. They have their own characteristics and advantages, but they also have their own defects. The inertial navigation system (INS) has the advantages of being able to provide a variety of high-precision navigation parameters completely independently without relying on external information. It has the characteristics of anti-electronic radiation interference, large maneuvering flight, and good concealment. However, the detection accuracy of the inertial navigation system mainly depends on the inertial measurement devices (...
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IPC IPC(8): G01S19/55G01C21/16
CPCG01C21/165G01S19/55
Inventor 李小柳邓炳光张治中杨家信康大军陈鑫
Owner 重庆重邮汇测通信技术有限公司