Publikationsdatum:
2023-06-20
Beschreibung:
Multi-antenna global navigation satellite systems (GNSS) can provide attitude measurement information for GNSS/INS integrated system. However, once the wrong attitude measurement is used in the tight coupled model, it is easy to lead to filtering divergence. Therefore, fault detection and exclusion (FDE) is very important for multi-antenna attitude determination. Because the baseline length information is often used as prior information in attitude determination, it cannot be used as the statistic of FDE again. In this paper, we propose a new statistic for attitude FDE, differential inter-system biases (DISB), and jointly use DISB, baseline length, standard deviation, and ratio to perform FDE for multi-antenna GNSS attitudes. The obtained attitudes with high reliability is added to the GNSS/INS tight coupled positioning model for measurement update. A set of urban vehicular data is used to verify the method. The results show that the DISB has FDE capabilities comparable to the baseline length information, which will be a powerful supplement when the baseline length information cannot be used. Compared to the single-antenna GNSS/INS tight coupled model, The accuracy of yaw,pitch and roll of the RTK/INS tightly coupled model with multi-antenna attitude measurement is improved by 57-64%,26-29% and 26-32% respectively, and the accuracy of the PPP/INS tightly coupled model with multi-antenna attitude measurement is improved by 60-61%,51-53% and 41-44% respectively.
Sprache:
Englisch
Materialart:
info:eu-repo/semantics/conferenceObject
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