Research And Implementation Of Vehicle Positioning And Orientation Technology Based On Dual Antenna With Inertial Assistant

Vehicle positioning and orientation technology with dual antenna is a new type of location and orientation technology based on carrier phase differential positioning technology.This technology has the characteristics of high precision and real time.It can be used in the fields of aviation,navigation,automobile and so on.Inertial navigation system which assists the positioning and orientation technology system based on dual antenna uses passive location technology.Based on the review of the domestic and international dual antenna positioning technology and satellite navigation system/inertial navigation system integrated technology,first of all,the structure of the output signal of the satellite navigation receiver is analyzed,and the output signal analysis software of the satellite navigation receiver is designed according to the functional requirements of the positioning and orientation software.The signal analysis software is developed with C#programming language in the Windows system.Then,the calculation method of satellite coordinates in space and the observation equation is described,the mathematical principle of GPS single positioning and carrier phase relative positioning is analyzed.The carrier phase differential equation is established based on the carrier phase relative positioning,and the basic model of short baseline orientation is established.A method to calculate the heading angle in local coordinates is given based on the integer ambiguity resolution algorithm.The baseline vector solution algorithm and the coordinate transformation algorithm of the orientation results.Next,based on the principle of inertial navigation system,an algorithm of assisting the orientation technology based on dual antenna with inertial navigation system is proposed.Finally,according to the structure of the positioning and orientation system based on dual antenna with inertial assistant,dual antenna positioning and orientation module and inertial orientation module is designed.The positioning and orientation software is developed with C++ programming language in the Windows system.The feasibility of positioning and orientation of software is verified through static environment test in laboratory and dynamic environment test in the outfield,and the accuracy of the output result of the positioning and orientation software is given by comparing the output result of the software with the output result of standard receivers.