摘要
针对车载移动测量系统对运动载体姿态的确定,研究车载全球卫星导航系统(GNSS)天线阵列定姿方法,分析直接法和最小二乘法定姿的姿态解算公式,并进行GNSS天线阵列车载实验.为得到两种定姿方法的精度,在不同软件定位模式解算的基础上,利用直接法和最小二乘法进行了姿态解算.实验和分析结果表明:四天线阵列最小二乘法定姿精度优于三天线阵列直接法,可靠性更高;在所有组合中,基于Moving-base定位模式的四天线阵列最小二乘法定姿精度最高,其航向角、俯仰角和横滚角精度分别可达0.066 0°、0.168 4°和0.267 8°.
Aiming at the determination of the attitude of the moving carrier by the vehicle-mounted mobile measurement system,the attitude determination method of the vehicle-mounted Global Navigation Satellite System(GNSS) antenna array is studied,the attitude calculation formula of the direct method and the least square method is analyzed,and the GNSS is carried out.Antenna array vehicle experiment.In order to obtain the accuracy of the two attitude determination methods,the direct method and the least square method are used to calculate the attitude on the basis of different software positioning modes.The experimental and analysis results show that the accuracy of the four-antenna array least squares attitude determination is better than the three-antenna array direct method,and the reliability is higher;among all the combinations,the four-antenna array least squares attitude determination accuracy based on the moving-base positioning mode is the highest,its heading angle,pitch angle and roll angle accuracy can reach 0.066 0°,0.168 4° and 0.267 8° respectively.
作者
刘春科
徐工
石志敏
张英琦
王辰晨
LIU Chunke;XU Gong;SHI Zhimin;ZHANG Yingqi;WANG Chenchen(College of Architectural Engineering Shandong University of Technology,Zibo 255000,China;State Key Laboratory of Geodesy and Geodynamics,Institute of Precision Measurement Science and Technology Innovation,Chinese Academy of Sciences,Wuhan 430077,China)
出处
《全球定位系统》
CSCD
2022年第4期113-121,共9页
Gnss World of China
基金
山东省自然科学基金(ZR2018LD003)。
关键词
全球卫星导航系统(GNSS)天线阵列
定姿
直接法
最小二乘法
Global Navigation Satellite System(GNSS)antenna array
attitude determination
direct method
least squares method
