High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common Clock
A global navigation satellite system (GNSS) receiver with multi-antenna using clock synchronization technology is a powerful piece of equipment for precise attitude determination and reducing costs. The single-difference (SD) can eliminate both the satellites and receiver clock errors with the commo...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Remote Sensing |
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| Online Access: | https://www.mdpi.com/2072-4292/13/19/3977 |
| _version_ | 1797515803186167808 |
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| author | Chenglong Zhang Danan Dong Wen Chen Miaomiao Cai Yu Peng Chao Yu Jianping Wu |
| author_facet | Chenglong Zhang Danan Dong Wen Chen Miaomiao Cai Yu Peng Chao Yu Jianping Wu |
| author_sort | Chenglong Zhang |
| collection | DOAJ |
| description | A global navigation satellite system (GNSS) receiver with multi-antenna using clock synchronization technology is a powerful piece of equipment for precise attitude determination and reducing costs. The single-difference (SD) can eliminate both the satellites and receiver clock errors with the common clock between antennas, which benefits the GNSS short-baseline attitude determination due to its lower noise, higher redundancy and stronger function model strength. However, the existence of uncalibrated phase delay (UPD) makes it difficult to obtain fixed SD attitude solutions. Therefore, the key problem for the fixed SD attitude solutions is to separate the SD UPD and fix the SD ambiguities into integers between antennas. This article introduces the one-step ambiguity substitution approach to separate the SD UPD, through which we merge the SD UPD parameter with the SD ambiguity of the reference satellite ambiguity as the new SD UPD parameter. Reconstructing the other SD ambiguities, the rank deficiency can be remedied by nature, and the new SD ambiguities can have a natural integer feature. Finally, the fixed SD baseline and attitude solutions are obtained by combining the ambiguity substitution approach with integer ambiguity resolution (IAR). To verify the effect of the ambiguity substitution approach and the advantages of the SD observables with a common clock in practical applications, we conducted static, kinematic, and vehicle experiments. In static experiments, the root mean squared errors (RMSEs) of the yaw and pitch angles obtained by the SD observables with a common clock were improved by approximately 80% and 93%, respectively, compared to double-difference (DD) observables with a common clock in multi-day attitude solutions. The kinematic results show that the dispersion of the SD-Fix in the pitch angle is two times less that of the DD-Fix, and the standard deviations (STDs) of the pitch angle for SD-Fix can reach 0.02°. Based on the feasibility, five bridges with low pitch angles in the vehicle experiment environment, which the DD observables cannot detect, were detected by the SD observables with a common clock. The attitude angles obtained by the SD observables were also consistent with the fiber optic gyroscope (FOG) inertial navigation system (INS). This research on the SD observables with a common clock provides higher accuracy. |
| first_indexed | 2024-03-10T06:52:25Z |
| format | Article |
| id | doaj.art-bae9dacde963405193a05623bfc5a31a |
| institution | Directory Open Access Journal |
| issn | 2072-4292 |
| language | English |
| last_indexed | 2024-03-10T06:52:25Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Remote Sensing |
| spelling | doaj.art-bae9dacde963405193a05623bfc5a31a2023-11-22T16:43:39ZengMDPI AGRemote Sensing2072-42922021-10-011319397710.3390/rs13193977High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common ClockChenglong Zhang0Danan Dong1Wen Chen2Miaomiao Cai3Yu Peng4Chao Yu5Jianping Wu6Key Laboratory of Geographic Information Science, East China Normal University, No. 500 Dongchuan Road, Shanghai 200241, ChinaKey Laboratory of Geographic Information Science, East China Normal University, No. 500 Dongchuan Road, Shanghai 200241, ChinaKey Laboratory of Geographic Information Science, East China Normal University, No. 500 Dongchuan Road, Shanghai 200241, ChinaThe Department of Land Surveying and Geo-Informatics, The Hong Kong Polytechnic University, No. 181 Chatham Road South, Hong Kong 999077, ChinaKey Laboratory of Geographic Information Science, East China Normal University, No. 500 Dongchuan Road, Shanghai 200241, ChinaEngineering Center of SHMEC for Space Information and GNSS, East China Normal University, No. 500 Dongchuan Road, Shanghai 200241, ChinaKey Laboratory of Geographic Information Science, East China Normal University, No. 500 Dongchuan Road, Shanghai 200241, ChinaA global navigation satellite system (GNSS) receiver with multi-antenna using clock synchronization technology is a powerful piece of equipment for precise attitude determination and reducing costs. The single-difference (SD) can eliminate both the satellites and receiver clock errors with the common clock between antennas, which benefits the GNSS short-baseline attitude determination due to its lower noise, higher redundancy and stronger function model strength. However, the existence of uncalibrated phase delay (UPD) makes it difficult to obtain fixed SD attitude solutions. Therefore, the key problem for the fixed SD attitude solutions is to separate the SD UPD and fix the SD ambiguities into integers between antennas. This article introduces the one-step ambiguity substitution approach to separate the SD UPD, through which we merge the SD UPD parameter with the SD ambiguity of the reference satellite ambiguity as the new SD UPD parameter. Reconstructing the other SD ambiguities, the rank deficiency can be remedied by nature, and the new SD ambiguities can have a natural integer feature. Finally, the fixed SD baseline and attitude solutions are obtained by combining the ambiguity substitution approach with integer ambiguity resolution (IAR). To verify the effect of the ambiguity substitution approach and the advantages of the SD observables with a common clock in practical applications, we conducted static, kinematic, and vehicle experiments. In static experiments, the root mean squared errors (RMSEs) of the yaw and pitch angles obtained by the SD observables with a common clock were improved by approximately 80% and 93%, respectively, compared to double-difference (DD) observables with a common clock in multi-day attitude solutions. The kinematic results show that the dispersion of the SD-Fix in the pitch angle is two times less that of the DD-Fix, and the standard deviations (STDs) of the pitch angle for SD-Fix can reach 0.02°. Based on the feasibility, five bridges with low pitch angles in the vehicle experiment environment, which the DD observables cannot detect, were detected by the SD observables with a common clock. The attitude angles obtained by the SD observables were also consistent with the fiber optic gyroscope (FOG) inertial navigation system (INS). This research on the SD observables with a common clock provides higher accuracy.https://www.mdpi.com/2072-4292/13/19/3977GNSSattitude determinationsingle-difference observablesuncalibrated phase delayinteger ambiguity resolutioncommon clock |
| spellingShingle | Chenglong Zhang Danan Dong Wen Chen Miaomiao Cai Yu Peng Chao Yu Jianping Wu High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common Clock Remote Sensing GNSS attitude determination single-difference observables uncalibrated phase delay integer ambiguity resolution common clock |
| title | High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common Clock |
| title_full | High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common Clock |
| title_fullStr | High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common Clock |
| title_full_unstemmed | High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common Clock |
| title_short | High-Accuracy Attitude Determination Using Single-Difference Observables Based on Multi-Antenna GNSS Receiver with a Common Clock |
| title_sort | high accuracy attitude determination using single difference observables based on multi antenna gnss receiver with a common clock |
| topic | GNSS attitude determination single-difference observables uncalibrated phase delay integer ambiguity resolution common clock |
| url | https://www.mdpi.com/2072-4292/13/19/3977 |
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