Design And Study On System Of Combined Attitude Measurement Based On Dual Antennae GNSS_MIMU

The technological innovation of the Internet of things has promoted the development of attitude measurement technology,and has made attitude measurement technology have a strong application in artificial intelligence,unmanned aerial vehicle,transportation and stability control platform.At present,most of the carrier attitude measurement used micro inertial measurement unit(Micro Inertial Measurement Unit,MIMU)or dual antenna global navigation satellite system(Global Navigation Satellite System,GNSS)attitude measurement techniques.Because MIMU attitude measurement unit has accumulated errors and initial position alignment problem,and the dual antenna GNSS attitude measurement technique has existed ambiguity and noise errors.In order to reduce the errors of the above problems,the design and research of the attitude measurement system based on the dual antenna GNSS_MIMU combined carrier are proposed.The advantages of the two attitude measurement techniques are complementary to improve the attitude measurement accuracy of the carrier,and the attitude measurement can satisfy people's demand in real life.At first,the principle of MIMU attitude measurement and dual antenna GNSS attitude measurement is introduced.Secondly,the existing errors of MIMU attitude measurement and dual antenna GNSS attitude measurement are analyzed.Thirdly,the ellipsoidal self calibration method is proposed for the MIMU installation error.Then two different carrier attitude measurement techniques are combined.The auxiliary least square estimation algorithm(least squares estimate adjustment search algorithm,LAMBDA)and MIMU solve the integer ambiguity of the carrier phase of the GNSS satellite.GNSS is used to calibrate the initial position and accumulative error of MIMU.These reduce the errors of two attitude measurement systems,and obtains two sets of attitude angles.Finally through federated Kalman filtering,two groups of data are fused to get the final attitude angles of the carrier.At the end of the paper,the dual antenna GNSS-MIMU attitude measurement system is experimentally verified,which is mainly verified by single system experiments and combined system experiments.MIMU auxiliary dual antenna GNSS resolves the whole circumference ambiguity,dual antenna GNSS threshold method resolves the MIMU accumulative errors and the two attitude measurement techniques combined carrier attitude measurement system,which are verified.The accuracy of the heading and pitching angles of the combined attitude measurement system is higher than that of the single system attitude measurement.The carrier attitude angle error heading angle of the combined attitude measurement static method remains within 3°,and the pitch angle accuracy remains Within 1.5°.the heading angle error of the dynamic straight-line travel remained within 5°,which confirmed the feasibility of the proposed attitude measurement method.This is great theoretical and engineering reference value for the development of current carrier attitude measurement technology.