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

Satellite Navigation 2024年第1期5卷 74-90页

作者： Yun Shi Peiliang Xu Yuanming Shu Xiaolin Meng School of Geomatics Xi’an University of Science and TechnologyXi’an710054People’s Republic of China Disaster Prevention Research Institute Kyoto UniversityUjiKyoto611-0011Japan College of Marine Geosciences Ocean University of ChinaQingdaoPeople’s Republic of China School of Instrument Science and Engineering Southeast UniversityNanjing210096People’s Republic of China

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

关键词： Angular velocity Angular acceleration High-rate gnss gnss attitudes gnss gyroscopes Regularization

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