Research On New Technology Of Integrated Positioning And Attitude Determination Using GNSS

GNSS Relative positioning has been widely applied in the field of land, sea, air and deep space, because it has the advantages of low cost, all-weather and high precision. At the same time, GNSS attitude determination is priority research areas in current aerospace navigation system, with the advantages of low cost, minor maintenance and no accumulated error compared to other modern attitude sensors. However, normally relative positioning and attitude determination problem are treated as independent, this approach does not take the baseline constraints between the platform and the platform into account, as a result that makes it happened that the relative positioning accuracy and attitude determination accuracy hard to improve. This paper is depth studied the influence of multi baseline constranint on the relative positioning and attitude determination, through the efficient use of baseline constranint, ambiguity information of positioning and attitude determination, to improve accuracy both of relative positioning and attitude determination.Firstly, for data preprocessing. Redesigned antenna configurations to solve issue that one attitude output error is significantly larger than the other two attitude errors for single platform. Improved cycle slip detection and repair algorithm, the improved algorithm has capable of detecting and repairing single, dual and triple-frequency signal.Secondly, improved ambiguity resolution performance. Analyzed the effect of different constellation(GPS, BDS, GPS+BDS) selection on the ambiguity resolution performance. Improved search and shrink approach, which improves the performance of attitude ambiguity resolution of AC-AM model, analyzed the ambiguity success rate influence of the constranint baseline on non-constranint baseline.Finally, compared attitude output accuracy of AC-AM determination algorithm to the direct attitude determination algorithm and carrier phase smoothing pseudorange algorithm. The accuracy of AC-AM attitude determination algorithm is significantly higher than the two others attitude determination algorithms because of the baseline limitation and the improvement of the algorithm. Furthermore put the ambiguity information of attitude determination module into relative positioning module, the simulation results show that the ambiguity information of attitude determination module can greatly improve the relative positioning accuracy.