Study On Dual-antenna GPS/INS Integrated Attitude Measurement

With the rapid development of various auxiliary means of navigation, estimationtechniques and high-performance computer technology, integrated navigation systemhas been widely used in navigation, positioning, orientation field. Attitude Information(azimuth、pitch、roll)is an important parameter for navigation to carrier aircraft,ships,satellites and so on. However, how gets practical, effective and high-precisionattitude information in a dynamic environment is the difficulty of engineeringapplications. In order to get effective the attitude information, this paper designed a dualantenna GPS/INS Integrated Navigation attitude measurement system. The paperincludes theoretical analysis, error modeling, data integration, system design andexperimental validation studies.First, the principles of the two navigation systems were discussed. Two navigationsystems for the attitude measurement and correlation equations has derived in thelearning and mastering the foundation, analyze the measurement process the presenceof various error and build relevant error compensation model. This paper introduces thecommon coordinate system and conversion in the measurement and descries theKalman filter in the applications of algorithm. In this paper, the fusion of attitudeinformation for the integrated navigation system were mainly analyzed and researched.On the basis of theoretical analysis and research, in order to overcome thetraditional filter cannot deal directly with the nonlinear problems，the paper designs anonlinear Kalman filter. Through integrated between the raw measurement data of theGPS receiver and the estimates value given by the INS integration, and get the errorestimate feedback to the INS, the attitude information of the system has outputtedfinally. The dual-antenna GPS/INS Integrated Navigation attitude determination systemconsists of GPS OEM receiver board, multi-frequency antenna, the IMU inertial unit(gyro and accelerometer) and self-designed control panel. The measurement unit detectsand receives the two navigation systems information, and transfer to the attitudeoperator unit. DSP is used to make data fusion algorithm and give the process in thepaper.Finally, the integrated navigation attitude measurement system has verified andanalyzed through experiments. The test results show that the integrated navigationattitude measurement system has good reliability and high-precision in the static conditions. The dynamic experiments measured in the outdoor environment. Theintegrated navigation attitude measurement system can be stable and correctly outputattitude information of the moving vehicle in the complex environment (such as blockedby trees or tall buildings).