An Improved Low-Cost Dual-Antenna GNSS Dynamic Attitude Determination Method in Complex Environments

被引:0
作者
Xu, Kan [1 ]
Tao, Jun [2 ,3 ]
Lei, Xiaoting [2 ]
Zhang, Jie [2 ]
Liu, Chengyi [2 ]
Chen, Liang [1 ,3 ]
机构
[1] Liaoning Tech Univ, Sch Geomat, Fuxin 123000, Peoples R China
[2] Wuhan Univ, GNSS Res Ctr, Wuhan 430072, Peoples R China
[3] Liaoning Tech Univ, Liaoning Prov Key Lab Geospatial Informat Technol, Fuxin 123000, Peoples R China
关键词
CLAMBDA; dynamics; GNSS; attitude; low-cost; AMBIGUITY RESOLUTION; SINGLE-FREQUENCY;
D O I
10.3390/rs16214026
中图分类号
X [环境科学、安全科学];
学科分类号
08 ; 0830 ;
摘要
GNSS attitude determination has been widely adopted due to its high efficiency, absence of cumulative errors, and ease of installation. However, practical navigation and attitude determination systems often rely on low-cost receivers that struggle with substantial multipath effects, frequent cycle slips, and satellite signal loss, significantly impairing attitude determination accuracy in challenging urban environments. To address this issue, this contribution proposes a constrained dynamic prediction model (C-Dynamics), which enables more accurate initial coordinates and thereby increases the effectiveness of the constrained LAMBDA (CLAMBDA) technique. To evaluate the practical performance of C-Dynamics, two sets of real-world data collected from a vehicle platform were analyzed. The results demonstrate that C-Dynamics significantly enhances the accuracy of initial coordinate estimations across various environments. Compared with the lambda method, the CLAMBDA method + C-Dynamics method (CLAMBDA+CD) improves the fixing rate in the urban environment by 5.6%, and the accuracy of the heading angle, pitch angle, and baseline length improved by 66%, 70.9%, and 84.2%, respectively. Moreover, in challenging high obstruction environments, the fixing rate increased by 43.5%, while the accuracy of heading angle, pitch angle, and baseline length improved by 76.4%, 69.2%, and 94%, respectively. The proposed algorithm effectively addresses the low fixing rate and insufficient accuracy of the LAMBDA method in high obstruction environments and holds practical value for widespread adoption in the mass market.
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页数:20
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