Abstract: The present invention discloses a GNSS-INS vehicle attitude determination method based on a single antenna, including the steps as below: mounting a GNSS antenna at a centroid and in the center of the vehicle, and mounting the IMU measuring unit of the MEMS sensor on the steering shaft of the vehicle; obtaining the position and velocity information of the vehicle by means of the GNSS antenna, obtaining the heading angular speed information of the vehicle by means of the IMU measuring unit; calculating the attitude angle of the vehicle by means of the combination with accelerometer and gyroscope; calculating the heading angle of the vehicle based on the position, velocity, and heading angular speed of the vehicle. The method combines the advantages of the short-term high precision of the IMU gyroscope and the long-term high stability of the GNSS single antenna, so as to avoid the divergence phenomenon.

Abstract: The present invention discloses a GNSS-INS vehicle attitude determination method based on a single antenna, including the steps as below: mounting a GNSS antenna at a centroid and in the center of the vehicle, and mounting the IMU measuring unit of the MEMS sensor on the steering shaft of the vehicle; obtaining the position and velocity information of the vehicle by means of the GNSS antenna, obtaining the heading angular speed information of the vehicle by means of the IMU measuring unit; calculating the attitude angle of the vehicle by means of the combination with accelerometer and gyroscope; calculating the heading angle of the vehicle based on the position, velocity, and heading angular speed of the vehicle. The method combines the advantages of the short-term high precision of the IMU gyroscope and the long-term high stability of the GNSS single antenna, so as to avoid the divergence phenomenon.

Abstract: A method of dividing a satellite signal into eight frequency points for processing includes the following steps: amplifying a satellite signal received by an antenna (S1); dividing the amplified satellite signal into radio frequency signals that includes eight frequency points in total, GPSL1, GPSL2, GPSL5, BDB1, BDB2, BDB3, GLNL1, and GLNL2, by a power divider circuit (S2); conducting a frequency mixing processing on five signals GPSL2, CPSL5, BDB2, BDB3, and GLNL2, and filtering the radio frequency signals that include eight frequency points in total, which include five frequency-mixed signals, GPSL2, GPSL5, BDB2, BDB3, and GLNL2, and three unmixed signals, GPS1, BDB1, and GN1 (S3); down-converting and A/D converting filtered eight-frequency-point radio frequency signals, outputting the signals to a baseband portion for a baseband signal processing (S4). This method reduces the power consumption, the size and the cost of the hardware.

Abstract: A method of dividing a satellite signal into eight frequency points for processing includes the following steps: amplifying a satellite signal received by an antenna (SI); dividing the amplified satellite signal into radio frequency signals that includes eight frequency points in total, GPSL1, GPSL2, GPSL5, BDB1, BDB2, BDB3, GLNL1, and GLNL2, by a power divider circuit (S2); conducting a frequency mixing processing on five signals GPSL2, CPSL5, BDB2, BDB3, and GLNL2, and filtering the radio frequency signals that include eight frequency points in total, which include five frequency-mixed signals, GPSL2, GPSL5, BDB2, BDB3, and GLNL2, and three unmixed signals, GPS1, BDB1, and GN1 (S3); down-converting and A/D converting filtered eight-frequency-point radio frequency signals, outputting the signals to a baseband portion for a baseband signal processing (S4). This method reduces the power consumption, the size and the cost of the hardware.