Unmanned articulated rolling vehicle tracking control method based on four antennas

The invention discloses an unmanned articulated rolling vehicle tracking control method based on four antennae, a GPS positioning system is arranged on an unmanned articulated rolling vehicle, the GPS positioning system comprises four antennae, two of the four antennae are transversely and symmetrically arranged on a front vehicle body of the rolling vehicle, and the other two antennae are transversely and symmetrically arranged on a rear vehicle body of the rolling vehicle. The other two antennas are transversely and symmetrically arranged on a rear vehicle body of the rolling vehicle; the method comprises the following steps: indirectly calculating an estimated distance error of a rear vehicle body according to positioning data of a front vehicle body, subtracting the estimated distance error from a transverse distance error to obtain a transverse measurement deviation, and setting a target transverse error in a retreating process to be equal to the transverse measurement deviation for correction when the a