Processing and Analysis of Multi-antenna GNSS/INS Fully Combined Model

Attitude measurement provides important decision information for navigation and positioning of moving vehicles. At present, the single-antenna GNSS/INS system has a limitation in performance and cost. This paper proposes to obtain the high-precision absolute attitude information of the moving carrier in real-time through the fusion of multi-antenna GNSS and INS. Since GNSS navigation is greatly affected by the external observation environment, it reduces the navigation and positioning results in the full combination mode. In this paper, the method of constructing the adaptive measurement noise model is presented by using the PDOP value of GNSS observation information and whether the ambiguity is fixed. The position, velocity and attitude of the moving carrier were obtained by the multi-antenna GNSS/INS adaptive Kalman filtering algorithm model. The results show that the position accuracy of GNSS/INS is 0.067 m, 0.044 m and 0.058 m, respectively. The speed-accuracy is 0.007 m/s, 0.006 m/s and 0.006 m/s respectively. The attitude accuracy is 0.011 degrees, 0.015 degrees and 0.085 degrees. Experimental results show that multi-antenna GNSS/INS can realize high-precision and highly reliable positioning, velocity measurement and attitude measurement services of the carrier.