Abstract：In this paper, the GNSS raw Doppler observation and the carrier phase derived Doppler observation are used to verify the performance of single antenna attitude determination in a kinematic environment, and we compare the accuracy of the attitude determination for the kinematic platform in different motion states. The experimental results show that when the kinematic platform is moving at a lower speed, the RMS values of the heading angle calculated by the carrier phase derived Doppler observation, the raw Doppler observation are both within 0.35°, and the RMS value of the pitch angle is within 0.15°. The attitude result calculated by the carrier phase derived Doppler observation is more stable than the raw Doppler observation. The heading accuracy calculated by using the carrier phase derived Doppler observation when going straight and turning are within 0.15° and 0.81° respectively, and the accuracy of the calculated attitude results when the carrier is going straight is higher than when turning.
WEI Yongseng,HE Kaifei,QIU Lijie et al. Error and Accuracy Analysis of GNSS Single-Antenna Attitude Determination for Land Navigation[J]. jgg, 2021, 41(10): 1014-1017.
