An Attitude Determination Algorithm by Integration of Inertial Sensor Added with Vision and Multi-antenna GNSS Data
Aim to the question that GNSS cannot directly observe positioning and attitude information using the GNSS/INS integrated system, especially in the bad condition of GNSS signal, positioning and orienting based on satellites are both difficult to use. This
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Abstract Aim to the question that GNSS cannot directly observe positioning and attitude information using the GNSS/INS integrated system, especially in the bad condition of GNSS signal, positioning and orienting based on satellites are both difficult to use. This chapter establishes the vision/multi-antenna GNSS attitude determination/inertial integrated navigation system, taking inertial error propagation model as the navigation model, the positioning and attitude information of multi-antenna GNSS and visual navigation information as a combination of measurements, achieving high precision integrated navigation using multi-scale extended Kalman filter. The vehicle-mounted integrated navigation test verified that the heading of this system has an accuracy of 0.243°, providing an attitude determination algorithm by integration of inertial sensor added with camera, and multi-antenna GNSS in the denied environment of satellite.
Keywords Integrated navigation Multi-antenna GNSS attitude determination Vision navigation Artificial mark point Multi-scale Kalman filter
1 Introduction With the development of navigation demands in different application fields, the integrated navigation technology based on inertial navigation system (INS) has gradually become the most important researching focus in the field of aerospace and missile guidance. For example, in the GNSS (Global Navigation Satellite System)/ F. Li (&) X. Jia Y. Zhou C. Chen Institution of Navigation and Aerospace Engineering, Information Engineering University, Zhengzhou 450001, China e-mail: [email protected] F. Li M. Dong State Key Laboratory of Geo-Information Engineering, Xian 710054, China M. Dong Satellite Navigation Engineering Center, Beijing 100094, China © Springer Nature Singapore Pte Ltd. 2017 J. Sun et al. (eds.), China Satellite Navigation Conference (CSNC) 2017 Proceedings: Volume II, Lecture Notes in Electrical Engineering 438, DOI 10.1007/978-981-10-4591-2_37
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INS integrated navigation system, the inertial instrument can obtain error correction of the position and attitude, and the GNSS can assist the inertial navigation system to achieve high precision navigation in the good observation condition, which can give full play to the advantages of each single navigation system. Zhang F et al. studied the direct method and least square method on attitude determination using multi antenna GNSS, and the result showed the external accord accuracy of least square method is better when estimating heading [1]; Zhai H implemented the estimation of acceleration using the velocity observation of MEMS/GPS, achieving the attitude determination based on single antenna GNSS, and the simulation results show that the attitude evaluation is better than 0.5° [2]; Dong M carried out the observation of heading through the double difference method using a single antenna GNSS receiver [3], but do not get complete three position observed quantities. However, GNSS cannot observe positioning and attitude information directly, in the d
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