BDS Position and Attitude Integration Measuring for Flying Spinning Vehicle

Abstract In order to meet the application requirements of position and attitude measurement of the flying spinning vehicle, a new integrated position and attitude measurement method based on single antenna is proposed in this paper. For the navigation requirements of the flying spinning vehicle, the traditional method is to use the satellite receiver for positioning, and at the same time, use the inertial navigation system or magnetometer for attitude measurement, the combination of the two is used to complete navigation and attitude measurement. The method proposed in this paper, on the one hand, is to reduce the number of components, greatly reduce the cost of use, on the other hand, to greatly improve the reliability of navigation and attitude measurement. Based on it, this paper uses satellite carrier signal and kinematic principle to carry out the vehicle attitude measurement based on satellite received signal. After analysis of satellite carrier amplitude signal received by the flying spinning vehicle, the mathematical relationship between carrier signal characteristics and spinning vehicle roll angle attitude is studied in further. Based on this, an integrated estimation method of satellite navigation and attitude measurement based on single antenna is proposed. At the same time, on account of the kinematics principle, satellite navigation is used to estimate the velocity vector without the use of inertial navigation system and magnetometer. Velocity vector is used for three-dimensional pseudo attitude kinematics mathematical modelling, and then by calculating and Euler attitude matrix transformation, the pseudo attitudes will be transformed into the inertial system coordinates. Experimental results show that the precision of attitude measurement can meet the actual engineering requirements.