Research On The Methods Of Ambiguity Resolution Basing On The MIMU Aiding

The attitude measurement of vehicle can be achieved by using the GNSS attitude determination system, which is installed with the vehicle rigidly and operating by solving the GNSS baseline vector associated. Unaided, SF/SE GNSS model is the most challenge scenario in solving the GNSS baseline vector. In this case, the confidence of the ambiguity float solutions is not as strong as that required by ambiguity fixing. Under the conditions of the MIMU and the low-end GNSS receiver-antenna combination in used, this work devotes to enhance the model strength of GNSS with the IMU measurement aided, the main works are summarized as follows:(1) Under the frame of the integer aperture estimator with fixed failure rate, the performance of the two most common methods of ambiguity acceptance testing--- ratio test and differential test, are compared, and the suggestions are given out for the two tests in used.(2) Basing on the two models of the unaided SF/SE-GNSS and the MIMU attitude aided SF/SE-GNSS, the uncoupled forms of the ambiguity search space, as well as the ADOP analytical formulas are compared respectively. Then, the mechanism of the SF/SE-GNSS model strength augmentation with the MIMU attitude aided is revealed in theory.(3) Utilizing the integer aperture estimator with fixed failure rate, the MIMU attitude aiding ambiguity resolution will be implemented successfully. The simulation results show that within 1 minute, the confidence of the SF/SE-GNSS ambiguity solutions can be augmented inevitably with the MIMU attitude aided.(4) The inertial-angular-increment prior constraint is proposed, and a new SVs-selecting algorithm is designed for it. The results of the simulations and the experiments demonstrate that the inertial-angular-increment prior constraint is effective and its SVs-selecting algorithm is practicable.