陆地导航中GNSS单天线姿态测量的误差及精度分析  

Error and Accuracy Analysis of GNSS Single-Antenna Attitude Determination for Land Navigation

作　　者：韦永僧 贺凯飞[1] 邱立杰 刘笃学 WEI Yongseng;HE Kaifei;QIU Lijie;LIU Duxue(College of Oceanography and Space Informatics,China University of Petroleum,Qingdao 266580,China)

机构地区：[1]中国石油大学(华东)海洋与空间信息学院,青岛市266580

出　　处：《大地测量与地球动力学》2021年第10期1014-1017,1050,共5页Journal of Geodesy and Geodynamics

基　　金：国家自然科学基金(41604027);山东省自然科学基金(ZR2016DQ01);青岛海洋科学与技术国家实验室开放基金(QNLM2016ORP0401)。

摘　　要：采用原始多普勒及载波相位导出多普勒观测数据,进行动态环境下单天线测姿性能的实验验证,并对比不同运动状态下载体的测姿精度。结果表明,当载体低速运动时,采用导出多普勒观测值及原始多普勒观测值解算的航向角RMS值均在0.35°以内,俯仰角RMS值均在0.15°以内,且通过载波相位导出多普勒观测值计算的姿态结果相较于原始多普勒观测值更稳定。在直行和转向时,采用导出多普勒观测值计算的航向精度分别在0.15°和0.81°以内,且载体直行时相比于转向时姿态结果的精度更高。In this paper,the GNSS raw Doppler observation and the carrier phase derived Doppler observation are used to verify the performance of single antenna attitude determination in a kinematic environment,and we compare the accuracy of the attitude determination for the kinematic platform in different motion states.The experimental results show that when the kinematic platform is moving at a lower speed,the RMS values of the heading angle calculated by the carrier phase derived Doppler observation,the raw Doppler observation are both within 0.35°,and the RMS value of the pitch angle is within 0.15°.The attitude result calculated by the carrier phase derived Doppler observation is more stable than the raw Doppler observation.The heading accuracy calculated by using the carrier phase derived Doppler observation when going straight and turning are within 0.15°and 0.81°respectively,and the accuracy of the calculated attitude results when the carrier is going straight is higher than when turning.

关 键 词：GNSS 单天线 低动态 姿态确定 误差分析 

分 类 号：P228[天文地球—大地测量学与测量工程]