Abstract
In order to realize the attitude determination in high accuracy and stability of BeiDou Navigation Satellite System (BDS) receiver carrier, a BDS/INS tightly coupled attitude determination algorithm was proposed. First, the error model of BDS system was put forward. Then, an extended Kalman Filter System with the double differences carrier phase as the main observation and the error state equation of INS as the system state equation which can ensure the attitude in a high precision were designed. Last, a platform was set up for testing the effectiveness of the algorithm with a single-frequency BDS receiver and an inertial sensor. The results show that the algorithm can effectively improve the measurement accuracy and output frequency of the attitude.
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