旋转GNSS双天线/MIMU紧组合系统算法

Algorithm of Rotating GNSS Dual Antenna/MIMU Tight Integrated System

为了提高旋转全球卫星导航系统(GNSS)短基线双天线/微惯性测量单元(MIMU)组合系统的定向精度,该文构建了其紧组合系统。紧组合算法将GNSS的伪距、伪距率和载波相位作为旋转GNSS双天线/MIMU组合系统的观测量,用扩展卡尔曼滤波进行估计,估计得到的状态量对系统进行闭环反馈,最后得到组合系统的定向结果。对旋转GNSS双天线/MIMU组合导航系统的船载试验数据进行了紧组合离线解算,结果表明,当GNSS基线为0.3 m时,组合系统的航向误差小于1°,俯仰角和横滚角误差小于0.1°。

In order to improve the orientation accuracy of the rotating GNSS short-baseline dual-antenna/MIMU integrated system,its tight integrated system is constructed in this paper.In the tight integrated algorithm,the pseudorange,pseudorange rate and carrier phase of the GNSS are taken as the observations of the rotating GNSS dual-antenna/MIMU integrated system.The extended Kalman filtering is used for the estimation,and the estimated stat quantity is used for the closed-loop feedback in the system,and finally the orientation result of the integrated system is obtained.The tight integrated off-line calculation of the ship-borne test data of the rotating GNSS dual-antenna/MIMU integrated system is carried out.The results show that when the GNSS baseline is 0.3 m,the heading error of the integrated system is less than 1°,and the pitch and roll angle errors are less than 0.1°.