一种利用BDS/INS的杆塔姿态测量算法

A Tower Attitude Measurement Method Based on BDS/INS

基于姿态信息是状态监测的关键参数这一特征,提出一种北斗卫星导航系统(BeiDou navigation satellite system, BDS)和惯性导航系统(inertial navigation system, INS)融合的杆塔姿态测量算法。由惯性传感器解算输出姿态信息得出基线向量搜索范围,提高了整周模糊度的求解成功率,并将BDS输出的姿态信息作为观测量,对INS解算出的姿态信息进行校正。经实例验证,该算法能有效解决卫星失锁带来的整周模糊度求解难的问题,并能进一步提高测姿精度。

Based on the characteristic that attitude information is the key parameter of condition monitoring, a tower attitude measurement method is proposed based on the integration of BeiDou navigation satellite system(BDS) and inertial navigation system(INS). The searching range of baseline vectors is obtained from the output attitude information of inertial sensors, which improves the success rate of integer ambiguity resolution. The attitude information from BDS is used as the observation to correct the attitude information from INS. Instances show that the algorithm can effectively solve the integer ambiguity resolution problem caused by satellite lock-out, and further improve the attitude determination accuracy.