GNSS-INS VEHICLE ATTITUDE DETERMINATION METHOD BASED ON SINGLE ANTENNA

摘要

Provided is a GNSS-INS vehicle attitude determination method based on a single antenna, comprising the following steps: fixedly mounting a GNSS antenna at the location of the central mass center of a vehicle, and meanwhile fixedly mounting an IMU measuring unit of an MEMS sensor on a steering axle of the vehicle; acquiring, by means of the GNSS antenna, information about the location and speed of the vehicle and acquiring, by means of the IMU measuring unit, information about the course angular rate of the vehicle; resolving the attitude angle of the vehicle by means of the combination of a speedometer and a gyroscope; and resolving the course angle of the vehicle according to the information about the location, speed and course angular rate of the vehicle. This invention uses the combination of a single antenna GNSS and a low-cost IMU/MEMS sensor set to determine the attitude and direction on the basis of a kinetic model of an agricultural vehicle, having the advantages of high short-term precision and high long-term stability, preventing the divergence in usage of a gyroscope, and meanwhile reducing the noise level of the GNSS attitude determination and enabling the attitude determination precision to be improved by several times.