基于双天线GNSS/SINS组合的风速测量运动补偿方案设计

以基于浮标平台的动态风速测量为背景，根据运动姿态补偿的原理和实际需要，设计了一套双天线GNSS/SINS组合姿态测量系统，采用卡尔曼滤波实现信息融合，通过在卡尔曼滤波的观测量中引入双天线GNSS输出的航向角信息，解决了惯性系统航向角可观测性较弱的问题，并通过实验验证了系统的有效性。实验结果表明，该运动补偿设计方案能够提高平台姿态测量的精度和稳定性，准确测量平台的姿态信息，并有效降低平台运动对风速测量的影响，风速测量误差低于4%，满足了海洋浮标观测的需求。

Design of wind speed measurement motion compensation scheme based on dual-antenna GNSS/SINS integrated system

Taking the dynamic wind speed measurement based on the buoy platform as the background, according to the principle of motion attitude compensation and actual needs, a dual-antenna GNSS/SINS integrated attitude measurement system is designed. Kalman filtering is used to achieve information fusion. The heading angle information output by dual-antenna GNSS is introduced into the measurement, which solves the problem of weak observability of heading angle of the inertial system, and the effectiveness of the system is verified by experiments. The experiments results show that the motion compensation scheme can improve the accuracy and stability of the attitude measurement, accurately measure the attitude information of the platform, and effectively reduce the influence of the platform motion on the wind speed measurement, and the wind speed measurement error is less than 4%. It meets the needs of marine buoy observation.