Dual-antenna attitude determination algorithm based on low-cost receiver

doi:10.11772/j.issn.1001-9081.2018122554

Journal of Computer Applications ›› 2019, Vol. 39 ›› Issue (8): 2381-2385.DOI: 10.11772/j.issn.1001-9081.2018122554

• Network and communications • Previous Articles Next Articles

Dual-antenna attitude determination algorithm based on low-cost receiver

WANG Shouhua^1,2, LI Yunke^1,2, SUN Xiyan^1,2, JI Yuanfa^1,2

1. Guangxi Key Laboratory of Satellite Navigation and Location Awareness(Guilin University of Electronic Technology), Guilin Guangxi 541004, China;
2. National and Local Joint Engineering Research Center of Satellite Navigation and Location Awareness, Guilin Guangxi 541004, China

Received:2018-12-27 Revised:2019-03-11 Online:2019-08-10 Published:2019-08-14
Supported by:
This work is partially supported by the National Key R&D Program (2018YFB0505103), the National Natural Science Foundation of China (61561016, 11603041), the Project of Guangxi Natural Science Foundation (2018GXNSFAA050123), the Director Fund of Guangxi Key Laboratory of Precision Navigation Technology and Application (DH201803), the Postgraduate Innovation Education Project of Guilin University of Electronic Technology (2018YJCX28, 2019YCXS037), the Guangxi Science and Technology Hall (AA17202033).

基于低成本接收机的双天线测姿算法

王守华^1,2, 李云柯^1,2, 孙希延^1,2, 纪元法^1,2

1. 广西精密导航技术与应用重点实验室(桂林电子科技大学), 广西桂林 541004;
2. 卫星导航定位与位置服务国家地方联合工程研究中心, 广西桂林 541004

通讯作者: 王守华
作者简介:王守华(1975-),男,山东滨州人,副教授,硕士,主要研究方向:信息处理、导航定位;李云柯(1993-),男,云南昆明人,硕士研究生,主要研究方向:全球卫星导航系统、天线测姿、嵌入式应用;孙希延(1973-),女,山东潍坊人,研究员,博士,主要研究方向:卫星导航、电子对抗;纪元法(1975-),男,山东聊城人,教授,博士,主要研究方向:卫星通信、卫星导航、数字信号处理。
基金资助:
国家重点研发计划项目（2018YFB0505103）；国家自然科学基金资助项目（61561016，11603041）；广西自然科学基金资助项目（2018GXNSFAA050123）；广西精密导航技术与应用重点实验室主任基金资助项目（DH201803）；桂林电子科技大学研究生教育创新计划项目（2018YJCX28，2019YCXS037）；广西科技厅项目（桂科AA17202033）。

Abstract

Abstract: Concerning the problem that low-cost Dual-antenna Attitude determination System (DAS) has low accuracy and gross error because of using direct solution, an improved algorithm based on carrier phase and pseudo-range double-difference Real-Time Kinematic (RTK) Kalman filter was proposed. Firstly, the baseline length was employed as the observation, then the precise baseline length obtained in advance was taken as the observation error. Secondly, the position of master antenna was corrected according to the epoch time interval of the slave antenna receiver and the integer ambiguity was solved by MLABMDA (Modified LABMDA) algorithm. Experimental results in static and dynamic mode show that the accuracy of the heading angle calculated by the proposed algorithm is about 1 degree and the calculated pitch angle accuracy is about 2-3 degrees in the case of baseline length 1.1 m with GPS and Beidou dual systems. The proposed algorithm improves the robustness and accuracy of the system greatly compared with the traditional dual-antenna attitude determination by direct solution.

Key words: dual-antenna attitude determination, low-cost receiver, Kalman filter, baseline constraint, Real Time Kinematic (RTK)

摘要： 针对低成本接收机双天线测姿系统利用直接法解算精度较低且存在系统粗差的问题，提出一种基于载波和伪距双差实时动态定位（RTK）卡尔曼滤波算法。首先，引入基线长度作为观测量，并将事先测量得到的精确基线长度作为观测量误差；然后，根据从天线接收机的历元时间间隔对主天线位置进行实时矫正，而周整模糊度采用改进LABMDA算法求解。在静态和动态情况下进行了测试，结果表明，在基线长度为1.1 m、采用GPS和北斗双系统进行观测的情况下，所提算法解算出的航向角精度在1°左右，俯仰角精度在2°~3°。相比传统的双天线直接法测姿，该算法在系统抗差性能和精度上都较优。

关键词: 双天线测姿, 低成本接收机, 卡尔曼滤波, 基线约束, 实时动态定位

CLC Number:

TN967.1

WANG Shouhua, LI Yunke, SUN Xiyan, JI Yuanfa. Dual-antenna attitude determination algorithm based on low-cost receiver[J]. Journal of Computer Applications, 2019, 39(8): 2381-2385.

王守华, 李云柯, 孙希延, 纪元法. 基于低成本接收机的双天线测姿算法[J]. 计算机应用, 2019, 39(8): 2381-2385.

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Dual-antenna attitude determination algorithm based on low-cost receiver

基于低成本接收机的双天线测姿算法

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