GNSS/IMU integrated navigation heading angle enhancement algorithm based on dual-antenna TDCP

Abstract

In the integrated navigation system of Global Navigation Satellite System (GNSS) and Inertial Measurement Unit (IMU), attitude estimation, especially accurate estimation of heading angle, is particularly important for real-time monitoring of vehicle driving status. However, since IMU is divergent in the altitude channel, its error will gradually accumulate if it is not accurately constrained. Therefore, the estimation accuracy of heading angle is insufficient in vehicle-mounted applications where the heading angle changes frequently. In order to solve the problem of poor navigation attitude estimation accuracy in the loose combination of traditional GNSS and IMU, this paper proposes a GNSS/IMU integrated navigation heading angle enhancement algorithm based on dual-antenna epoch carrier phase difference (TDCP). This method solves the vehicle heading angle through dual-antenna TDCP to increase the input dimension of the integrated navigation filter fusion observation value, and uses Hatch filtering and anti-error adaptive filtering to improve the observation domain pseudorange accuracy and GNSS/IMU integrated navigation positioning and attitude determination performance respectively. Experimental results show that compared with the traditional GNSS/IMU integrated navigation method, the proposed algorithm improves the positioning and speed measurement accuracy in the three-dimensional direction by and respectively 22.12%, 41.27%and the vehicle heading angle accuracy is improved 46.29%.