Abstract
This paper puts forward a short-baseline dual-antenna BDS/MIMU integrated navigation, constructs the carrier phase double difference model of BDS (BeiDou Navigation Satellite System), and presents a 2-position initial orientation method on BDS. The Extended Kalman-filter has been applied for the integrated navigation system. The differences between MIMU and BDS position, velocity and carrier phase information are used as measurements. The experiment results indicate that the position error is less than 1m, the pitch angle error and roll angle error are less than 0.1°, and the heading angle error is about 1°. It shows that the new integrated navigation system has good performance and can be applied in various fields including USV and UAV.
Highlights
Integrated navigation is a kind of navigation technique, integrating two or more navigation systems and using a complementary algorith m which obviously improves the system’s navigation precision
This paper develops an integrated system based on the BeiDou System, Ch ina’s domestically designed navigation system, wh ich provides accurate positioning informat ion within transmission range
The short-baseline dual-antenna BDS/M icro Inertial Measurement Unit (MIMU) integrated navigation integrates the BeiDou Nav igation Satellite System and Strapdown Inertial Navigat ion System (SINS) based on MIMU, with extended Kalman-filter fusing data, providing optimu m parameters
Summary
Integrated navigation is a kind of navigation technique, integrating two or more navigation systems and using a complementary algorith m which obviously improves the system’s navigation precision. This paper develops an integrated system based on the BeiDou System, Ch ina’s domestically designed navigation system, wh ich provides accurate positioning informat ion within transmission range It can’t continuously navigate when the satellites are shielded as is the case with GPS [1]. The main algorithms include amb iguity mapping function, least ambiguity decorrelation adjust [11] Researchers using these methods can achieve high accuracy, but usually the length of baseline is over 1m [12,13]. We design a novel method to determine the integer ambiguity double difference based on a rotary short-baseline By this method, the dual-antenna BDS/MIMU integrated navigation system with 0.3m baseline is able to provide precise position and heading angle continuously, which has practical value in shortbaseline dual-antenna integrated navigation technology
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