GNSS gyroscopes:determination of angular velocity and acceleration with very high-rate GNSS

作     者：Yun Shi Peiliang Xu Yuanming Shu Xiaolin Meng 

作者机构：School of GeomaticsXi’an University of Science and TechnologyXi’an710054People’s Republic of China Disaster Prevention Research InstituteKyoto UniversityUjiKyoto611-0011Japan College of Marine GeosciencesOcean University of ChinaQingdaoPeople’s Republic of China School of Instrument Science and EngineeringSoutheast UniversityNanjing210096People’s Republic of China 

出 版 物：《Satellite Navigation》 (卫星导航（英文）)

年 卷 期：2024年第5卷第1期

页      面：74-90页

核心收录：

学科分类：0810[工学-信息与通信工程] 08[工学] 081601[工学-大地测量学与测量工程] 0816[工学-测绘科学与技术] 0825[工学-航空宇航科学与技术] 

基　　金：supported by the National Natural Science Foundation of China under projects Nos.42174045 and 41874012 awarded to Yun Shi 

主　　题：Angular velocity Angular acceleration High-rate GNSS GNSS attitudes GNSS gyroscopes Regularization 

摘      要：Although global navigation satellite systems(GNSS)have been routinely applied to determine attitudes,there exists no literature on determining angular velocity and/or angular acceleration from *** by the invention of computerized accelerometers of the correspondence author and following the success of accurately recovering translational velocity and acceleration waveforms from very high-rate GNSS precise positioning by Xu and his collaborators in 2021,we propose the concept of GNSS gyroscopes and reconstruct angular velocity and acceleration from very high-rate GNSS attitudes by applying regularization under the criterion of minimum mean squared *** major results from the experiments can be summarized in the following:(i)angular velocity and acceleration waveforms computed by applying the difference methods to high-rate GNSS attitudes are too noisy and can be physically not meaningful and numerically *** same can be said about inertial measurement unit(IMU)attitudes,if IMU gyros are not of very high accuracy;(ii)regularization is successfully applied to reconstruct the high-rate angular velocity and acceleration waveforms from 50 Hz GNSS attitudes and significantly outperforms the difference methods,validating the proposed concept of GNSS *** comparing the angular velocity and acceleration results by using the difference methods and regularization,we find that the peak values of angular velocity and acceleration by regularization are much smaller by a maximum factor of 1.57 in the angular velocity to a maximum factor of 8662.53 times in the angular acceleration in the case of high-rate GNSS,and by a maximum factor of 1.26 in the angular velocity to a maximum factor of 2819.85 times in the angular acceleration in the case of IMU,respectively;and(iii)the IMU attitudes apparently lead to better regularized angular velocity and acceleration waveforms than the high-rate GNSS attitudes,which can well be explained by the fact that the