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Multi-frequency double-antenna vehicle-mounted attitude measurement method and device based on BDS-3/magnetometer

A technology of BDS-3 and magnetometer, which is applied in the field of satellite navigation, can solve problems such as measurement value deviation, achieve the effects of improving accuracy and tolerance, ensuring attitude measurement accuracy, and improving the success rate of fixation

Pending Publication Date: 2021-04-23
GUANGZHOU HI TARGET NAVIGATION TECH +1
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Problems solved by technology

However, when using the Beidou 3 multi-frequency system for dual-antenna attitude measurement, it is inevitable that cycle slips will occur during the actual observation process, which will bring deviations to the measured values. How to obtain more optimized measured values ​​is a problem that needs to be solved

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  • Multi-frequency double-antenna vehicle-mounted attitude measurement method and device based on BDS-3/magnetometer
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  • Multi-frequency double-antenna vehicle-mounted attitude measurement method and device based on BDS-3/magnetometer

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[0041] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0042] The multi-frequency dual-antenna vehicle attitude measurement method based on BDS-3 / magnetometer provided by this application can be applied to such as figure 1 shown in the application environment. figure 1 A BDS-3 / magnetometer-based multi-frequency dual-antenna vehicle-mounted attitude measurement device is provided, including an observation information acquisition module, a heading angle observation module, and an algorithm processing module. The observation information acquisition module obtains satellite signals through GNSS dual antennas, and the GNSS board c...

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Abstract

The invention relates to a multi-frequency double-antenna vehicle-mounted attitude measurement method and device based on a BDS-3 / magnetometer. The method comprises the following steps: based on the criterion of minimum noise and minimum ionosphere error, cycle slip detection and repair are carried out by using the characteristics of a BDS+3 multi-frequency observation value, and the efficiency of cycle slip detection and repair is improved; according to the invention, the magnetometer is used for measuring a course angle, a constraint equation is formed, and high-precision, high-reliability and high-robust vehicle-mounted platform attitude measurement is realized; and based on a robust Kalman filtering model, the multi-frequency relative positioning technology is adopted to determine the driving posture of the vehicle-mounted platform, and the accuracy of posture measurement is improved by constructing a robust adaptive filtering algorithm.

Description

technical field [0001] The present application relates to the technical field of satellite navigation, in particular to a BDS-3 / magnetometer-based multi-frequency dual-antenna vehicle attitude measurement method and equipment. Background technique [0002] With the advancement of satellite navigation and related technologies, the application of navigation satellite systems is becoming more and more extensive, its economic benefits are becoming more and more obvious, and its role in military and civilian use is also more prominent. The attitude measurement based on the Beidou system is one of the important methods of navigation and positioning. With the continuous optimization of the Beidou system, its positioning function has also been continuously developed. As the important state information of the moving carrier, the attitude reflects the relative position of the moving carrier relative to the local The angular position of the horizontal coordinate system is also an impor...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/44G01S19/04
CPCG01S19/44G01S19/04
Inventor 廖建平李昕余绪庆陈伟韩厚增刘神张建胡静管亚平
Owner GUANGZHOU HI TARGET NAVIGATION TECH
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