测绘科学技术学报2025，Vol.41Issue(4)：353-361,371,10.DOI:10.3969/j.issn.1673-6338.2025.04.004
联合多普勒与载波相位差分观测值的航向角估计模型
A Heading Angle Estimation Model Using Doppler and Carrier Phase Differential Observations
摘要
Abstract
To address the issues of insufficient accuracy,low reliability,and various limitations faced by the Global Navigation Satellite System in estimating the heading angle of moving vehicles,a heading angle estimation model u-sing a single antenna is proposed,which combines Doppler and carrier phase observations.First,the model is based on an inter-satellite differential method,combining Doppler shift and time-differenced carrier phase speed measurement information.To account for the correlation between the platform's mobility and the speed measurement information,an adaptive variation factor is introduced to dynamically adjust the weight of the observations,thereby calculating the vehicle's heading angle information.The results of static experiments and dynamic experiments with varying mobility indicate that the accuracy of heading angle estimation is significantly influenced by the platform's motion state.In low-mobility autonomous vehicle dynamic scenarios,the speed measurement accuracy can reach the centimeter-per-second level,but the heading angle estimation error is relatively large,with the maximum error exceeding 10°.In dynamic scenarios with high mobility,such as vehicle-mounted environments,the proposed esti-mation model can accurately estimate the vehicle's heading angle,with the maximum error being less than 5°.Compared to the Doppler and TDCP methods,the error is reduced by 12.9％and 66.1％,respectively,and the proportion of observation epochs with a heading angle estimation error below 2° reaches 94.3％.关键词
GNSS测速/航向角/载波相位历元差分/多普勒频移/星间历元双差Key words
GNSS velocity measurement/heading angle/time-difference carrier phase/Doppler frequency shifting/double difference between satellites and epochs分类
测绘与仪器引用本文复制引用
周逸杰,曹新运,陈超,葛玉龙,沈飞..联合多普勒与载波相位差分观测值的航向角估计模型[J].测绘科学技术学报,2025,41(4):353-361,371,10.基金项目
国家自然科学基金项目(42474019 （）
41904018) （）
自然资源部国土卫星遥感应用重点实验室开放基金资助(KLSMNR-K202310),该项工作也得到了中国科协青年人才托举工程项目资助. （KLSMNR-K202310）
