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Precise vehicle dynamic heading and pitch angle estimation using time-differenced measurements from a single GNSS antenna
GPS Solutions ( IF 4.9 ) Pub Date : 2020-06-25 , DOI: 10.1007/s10291-020-01000-2
Rui Sun , Qi Cheng , Junhui Wang

The attitude information of ground vehicles, i.e., heading and pitch information, can be used for many transport applications. This information can be determined through various solutions of onboard sensors, including magnetic sensors, inertial sensors, GNSS equipment, and their combinations. In order to find a cost-effective solution, we propose here a new toolbox named Vehicle Attitude Determination toolbox from the Intelligent Transportation And Geomatics group (iTAG_VAD) that determines vehicle dynamic heading and pitch using only one single-frequency GPS antenna, reducing costs while retaining an acceptable heading and pitch accuracy. In this toolbox, by using the constraints of the vehicle motion and road geometry, two variations in a time-differenced measurement model, i.e., Time-Differenced Carrier Phase (TDCP) and Time-Differenced Pseudorange (TDPR), are developed for heading and pitch determination. The results show that both proposed TDCP- and TDPR-based models are able to provide an accurate heading and pitch estimation with a root mean square error below the one-degree level, which is sufficient for many land-based applications. We describe the toolbox and its implementation in MATLAB in detail.

中文翻译:

使用来自单个GNSS天线的时差测量结果进行精确的车辆动态航向和俯仰角估计

地面车辆的姿态信息(即航向和俯仰信息)可用于许多运输应用。可以通过各种车载传感器解决方案来确定此信息,包括磁性传感器,惯性传感器,GNSS设备及其组合。为了找到一种具有成本效益的解决方案,我们在这里提出了一个新的工具箱,该工具箱来自Intelligent Transportation and Geomatics组(iTAG_VAD),名为“汽车姿态确定”工具箱,该工具箱仅使用一个单频GPS天线即可确定车辆的动态航向和俯仰角,保持可接受的航向和俯仰精度。在此工具箱中,通过使用车辆运动和道路几何形状的约束,可以实现时差测量模型的两个变化,即 时差载波相位(TDCP)和时差伪距(TDPR)用于航向和俯仰确定。结果表明,所提出的基于TDCP和TDPR的模型均能够提供准确的航向和俯仰估计,且均方根误差低于1度,这对于许多陆基应用而言已足够。我们将详细描述工具箱及其在MATLAB中的实现。
更新日期:2020-06-25
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