| 车载三天线GNSS的直接法定姿及精度评估 |
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| 引用本文： | 蔡小波,许厚泽,王勇,柴华,丁磊香.车载三天线GNSS的直接法定姿及精度评估[J].武汉大学学报(信息科学版),2018,43(6):820-825. |
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| 作者姓名： | 蔡小波 许厚泽 王勇 柴华 丁磊香 |
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| 作者单位： | 1.中国科学院测量与地球物理研究所大地测量与地球动力学国家重点实验室, 湖北 武汉, 430077 |
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| 基金项目： | 国家自然科学基金41274084 |
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| 摘 要： | 针对移动测量系统对载体姿态的需求，对车载三天线全球卫星导航系统（global navigation satellite system，GNSS）的直接法定姿进行了研究。分析了定姿的原理，给出了姿态解算公式，并提出一种简便的方法确定航向角的象限，解决了航向角的多值性问题。为了评估该方法的精度，利用车载的三天线GNSS进行了动态实验，采集了动态观测数据，利用直接法对观测数据进行了姿态解算，并用同车搭载的一套高精度惯性导航系统（inertial navigation system，INS）给出的姿态参考值对三天线GNSS定姿的精度和可靠性进行了评估。结果表明，三天线GNSS直接法定姿精度高、可靠性好，并具有计算简便，可避免奇异性问题等优点。
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| 关 键 词： | 直接法 动态定姿 基线 多值性问题 精度 可靠性 |
| 收稿时间： | 2017-05-12 |
Direct Attitude Determination Method Based on Vehicle-mounted Three-antenna GNSS and the Accuracy Evaluation |
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| Affiliation: | 1.State Key Laboratory of Geodesy and Earth's Dynamics, Institute of Geodesy and Geophysics, Chinese Academy of Sciences, Wuhan 430077, China2.University of Chinese Academy of Sciences, Beijing 100049, China3.Henan University of Urban Construction, Pingdingshan 467036, China |
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| Abstract: | There is a demand for attitude in mobile surveying systems. Thus, a direct attitude determination method based on vehicle-mounted three-antenna global navigation satellite system (GNSS) is proposed. Principles behind attitude determination were analyzed and the formulae for the folution were derived. A simple method is proposed to determine the quadrants of the yaw angles, which solves the multi-value problem. The data from a land vehicle are processed, and a reference attitude from a high-accuracy inertial navigation system (INS) was used to evaluate the accuracy and reliability of the attitude determined from three-antenna GNSS. The results indicate that the attitude determined from three-antenna GNSS can achieve high accuracy and reliability. This method is simple in calculation and avoids the singularity problem. |
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