Method of determining GNSS-INS vehicle attitude based on single antenna

摘要

The present invention discloses a GNSS-INS vehicle attitude determination method based on a single antenna, including the steps as below: mounting a GNSS antenna at a centroid and in the center of the vehicle, and mounting the IMU measuring unit of the MEMS sensor on the steering shaft of the vehicle; obtaining the position and velocity information of the vehicle by means of the GNSS antenna, obtaining the heading angular speed information of the vehicle by means of the IMU measuring unit; calculating the attitude angle of the vehicle by means of the combination with accelerometer and gyroscope; calculating the heading angle of the vehicle based on the position, velocity, and heading angular speed of the vehicle. The method combines the advantages of the short-term high precision of the IMU gyroscope and the long-term high stability of the GNSS single antenna, so as to avoid the divergence phenomenon.