Research On Attitude Determination Technology Of Bei Dou Satellite Navigation Assisted By Inertial Information

Satellite navigation which took advantage of geometric distribution Multi-receiving-antennas is used for measuring the attitude of the aero amphibious carriers by means of calculating the carrier observation information. Satellite attitude determination technology was developed for a long time. Its engineered application also become increasingly wide spread. But these satellite attitude determination technologies are impacted by environment,calculation was hard,updating rate was low and precision was easily impacted by the length of the baseline. These satellite attitude determination technologies are on GPS satellite navigation system. With the construction of our country Beidou satellite, the Second Generation Beidou is applied to network. The research work on Beidou attitude determination technology has important academic value and engineering value in a national defense construction perspectiveIn accordance with Beidou B1 I-frequency signal system, this paper researches that how to apply the integer ambiguity technology and detecting and repairing cycle slips technology to compromising the information of inertia and multi-antennas Beidou observable information for improving performance of the Beidou attitude determination. Algorithm performance is verified by being built simulation system.This paper builds Beidou Dual-Differential carrier phase observation model first. Attitude determination has low data updating rate and bad reliability. Integrated navigation system based on the multi-antennas Beidou observable information system and INS system is designed to repair the limitation. State equation and observation equation of integrated navigation system is deduced. Root-mean-square filtering-Potter algorithm is designed to filter navigation information for resolving the divergence problem of standard Kalman filtering. The method is robust and could support high-precision fixing position and attitude determination results.Secondly, the impacts of crystal oscillator acceleration effects to carrier phase measure value are researched for Beidou attitude determination system for improving its sensitivity under the high dynamic state. Based on Equivalent Doppler frequency shift model, the method of applying inertia information to compensating the crystal oscillator acceleration effects of Beidou attitude determination system carrier tracing loop is researched. The reliability and accuracy of carrier phase measure value of Beidou attitude determination system under the high dynamic state is enhanced.Thirdly,LAMBDA algorithm is complicated and need a long solution time. For decreasing integer ambiguity solution time and amount of calculation and increasing integer ambiguity accuracy, inertia information aided LAMBDA algorithm is designed considering the characters of INS high accuracy positioning in short time.The algorithm could be used for estimating satellite baseline vector though INS output attitude matrix. The satellite baseline vector could be used for integer ambiguity float solution. The scheduling method is used for improving the reliability and efficiency of integer ambiguity. Then, a new cycle slip detection and reparation method is designed by means of constructing testing variables based on the INS estimation baseline vectors and Beidou three difference carrier phase measurements. The method is aimed at the insensitivity to carrier high dynamic state of cycle slip detection and reparation the single satellite data and excessive dependence to satellite observed values. The method is proved correct and simple and its dynamic adaptability is strong. It is improved the sensitivity of detecting.At last, Beidou attitude determination simulation system platform based on inertia information is built. The theory algorithms are checked by simulation example and performance analysis.