Research On Differential GPS/SINS Integrated Navigation Technology Based On Dual Antenna

The advantages of globalpositioningsystem(GPS)are high precision,all weather,no user limit and no error accumulation,but the disadvantage of GPS is that the signal is susceptible to signal interruption due to other interferences;Strapdown Inertial Navigation System(SINS)has the advantages of been low price,small size,high short-term precision.Its advantage is not affected by meteorological conditions.But its navigation error diverges over time due to the intrinsic drifts from accelerometers and gyroscopes.The GPS/SINS integrated navigation system can combine the advantages of both to achieve low cost,high precision and strong real-time performance.Firstly,this paper adopts GPS dual antenna orientation and proposes a baseline vector solution optimization scheme to measure the attitude information of the carrier,which can effectively solve the problem that the carrier orientation is difficult to monitor in navigation and positioning.Secondly,based on the problem of navigation and orientation,this paper proposes a differential GPS/SINS integrated navigation algorithm based on GPS dual antenna orientation,and its effectiveness is verified by simulations and experiments.In this dissertation,the basic principles of the composition and orientation of the two subsystems are studied.The methods and observation equations of the two navigation systems for carrier positioning and attitude measurement are derived.The error sources are analyzed and the error model is established.Then the high-precision positioning of the main antenna is solved by carrier phase double difference,and later the optimization scheme of the baseline vector is directly solved by the difference between the base station and the slave antenna.This method can eliminate most of the errors and solve the high-precision baseline vector.The transformation of the vector in different coordinate systems can solve the carrier yaw angle and the elevation angle.At the same time,this dissertation focuses on the dual-antenna-based differential GPS/SINS integrated navigation.Based on the conventional Kalman filtering information fusion technology and the loose coupling of velocity and position residuals,the attitude residual is added to the observation.The value of the extended Kalman filter of the integrated navigation system is designed,and the state equation and measurement equation of the differential GPS/SINS integrated navigation system based on dual antenna are established.Finally,the simulation and experimental verification of the GPS dual antenna baseline vector optimization scheme and the dual antenna based differential GPS/SIN S integrated navigation algorithm are presented.The optimized baseline vector solution is measured by static experiments.The Matlab program is used to calculate the baseline and attitude angle for data analysis and comparison.The measured results show t hat the optimization scheme is more stable and accurate in the measurement of heading angle and elevation angle.The latter simulation experiment combines the integrated navigation algorithm with increased attitude angle as the observation value and the or dinary loose coupling algorithm to integrate the navigation parameters obtained from the Matlab vehicle simulation trajectory.The experimental results show that the differential GPS/SINS integrated navigation algorithm based on dual antenna can be effecti ve.Improve positioning and orientation accuracy for reliability and superiority.