Research On Attitude Determination Method For Dynamic Carrier Utilizing GNSS

With the development and improvement of Global Navigation Satellite System(GNSS),attitude determination using GNSS observation data has also become a research hotspot in this field,and is widely used in marine navigation,aerial photogrammetry,land navigation and other fields.The use of GNSS multi-system combination can increase the number of visible satellites and improve the satellite observation structure,especially after joining the Bei Dou system,which can effectively improve the navigation and positioning accuracy within China.This paper focuses on GNSS single-antenna and multi-antenna attitude determination methods with GNSS dynamic carrier attitude determination as the theme.The main research contents are summarized as follows.(1)Geometry-free model and ionosphere-free model are used to analyze the characteristics of GNSS pseudo-range multipath effect on land and sea.The experimental results show that the multipath effect decreases with increasing altitude angle in the static stations inland,but in the dynamic environment at sea,the multipath effect of BDS and GLONASS satellites does not change significantly with altitude angle due to the influence of other factors.(2)Based on the single-station Doppler velocimetry model,study on the principle of GNSS single-antenna attitude determination and derive the effect of velocity error on the accuracy of single-antenna attitude determination.And the error analysis is carried out by three aspects of carrier velocity,antenna placement deviation,and motion state,and the usability of GNSS single-antenna attitude determination inland navigation is verified by experiment,in which the accuracy of heading angle and pitch angle are within 1°.(3)Study on the principle and method of GNSS multi-antenna attitude determination,and give a least-squares estimation method based on baseline length weighting for the problem that the correlation between baselines is not considered in the least-squares estimation method.The experimental results show that the method can effectively improve the attitude angle solution accuracy in the dynamic environment when the baseline lengths differ greatly,in which the roll angle accuracy is improved by 13%.(4)Study on the GNSS multi-system combined attitude determination method.Based on the dynamic-to-mobile relative positioning,the attitude determination accuracy of GPS,BDS,GLONASS single system,and multi-system combination in the static platform is analyzed,and the experimental results show that the use of GNSS multi-system combination can effectively improve the baseline solution and attitude determination accuracy.In the dynamic experiment,the accuracy of yaw angle solved by GPS/BDS combination is improved by 15% compared with that of GPS single system.