An Adaptive GNSS Attitude Determination Algorithm Based on Multiplicative Error Quaternion

4th International Conference on Advances in Energy Resources and Environment Engineering

能源学;生态环境科学

Dai, Qing^1 ; Sui, Lifen^1 ; Xiao, Guorui^1 ; Zeng, Tian^1 ; Tian, Yijun^1

Institute of Geospatial Information, Information Engineering University, Henan

450001, China^1

关键词: Attitude determination;    Attitude determination algorithms;    Carrier-phase observations;    Constraint information;    Covariance structures;    Estimation precision;    Multiplicative errors;    Real time performance;   

Others  :  https://iopscience.iop.org/article/10.1088/1755-1315/237/3/032011/pdf
DOI  :  10.1088/1755-1315/237/3/032011

学科分类：环境科学（综合）

来源: IOP

【 摘 要 】

To further improve the multi-antenna instantaneous attitude observation performance and optimize the ambiguity and cycle slip processing in attitude determination using GNSS carrier phase observations, an adaptive attitude estimation algorithm based on multiplicative error quaternion is proposed in this paper. The algorithm integrates the attitude constraint information by using state and observation models, and combines the adaptive factors and robust equivalent weights with cycle slips, thereby improving the ambiguity float solution and its covariance structure. The simulation results show that the proposed algorithm can increase the yaw estimation precision and the data processing flexibility while ensuring outstanding real-time performance.