期刊名称：IOP Conference Series: Earth and Environmental Science
印刷版ISSN：1755-1307
电子版ISSN：1755-1315
出版年度：2019
卷号：237
期号：3
页码：032011
DOI：10.1088/1755-1315/237/3/032011
出版社：IOP Publishing
摘要：To further improve the multi-antenna instantaneous attitude observation performance and optimize the ambiguity and cycle slip processing in attitude determination using GNSS carrier phase observations, an adaptive attitude estimation algorithm based on multiplicative error quaternion is proposed in this paper. The algorithm integrates the attitude constraint information by using state and observation models, and combines the adaptive factors and robust equivalent weights with cycle slips, thereby improving the ambiguity float solution and its covariance structure. The simulation results show that the proposed algorithm can increase the yaw estimation precision and the data processing flexibility while ensuring outstanding real-time performance.
