A Short-baseline Dual-antenna BDS/MIMU Integrated Navigation System

This paper puts forward a short-baseline dual-antenna BDS/MIMU integrated navigation, constructs the carrier phase double difference model of BDS (BeiDou Navigation Satellite System), and presents a 2-position initial orientation method on BDS. The Extended Kalman-filter has been applied for the integrated navigation system. The differences between MIMU and BDS position, velocity and carrier phase information are used as measurements. The experiment results indicate that the position error is less than 1m, the pitch angle error and roll angle error are less than 0.1°, and the heading angle error is about 1°. It shows that the new integrated navigation system has good performance and can be applied in various fields including USV and UAV.