基于时间差分观测值的单天线北斗车辆航向角与俯仰角估计OA

Attitude information(heading angle and pitch angle)of ground vehicles is essential in intelligent transportation and mobile surveying and mapping.Traditional multi-antenna BDS attitude measurement solutions suffer from high cost and complex installation.We proposed a low-cost attitude solution method based on single antenna BDS receiver.Based on carrier phase or pseudo range observations from single frequency BDS receiver,we eliminated common errors through time differenced processing,and accurately estimated dynamic heading angle and pitch angles by incorporating vehicle kinematic constraints.Experimental results show that the algorithm based on time differenced carrier phase(TDCP)provides heading angle accuracy better than 3.93°and pitch angle accuracy better than 2.60° under favorable observation conditions,while the algorithm based on time differenced pseudo range(TDPR)achieves practical accuracy better than 8.96°,offering an effective solution for low-cost vehicle attitude measurement.