Navigation solution of multi-antennas BDS receivers for measuring the trajectory of space spinning vehicles

Single-antenna BeiDou Navigation Satellite System (BDS) receivers could not measure the trajectory of space spinning vehicles at the present time, Multi-antenna installed around of spinning vehicles were applied to gaining the continual signal. Phase centers of antennas are difference because of difference installation position of antennas, which introduce serious systematic errors into the position and velocity, causes serious systematic errors to position and velocity, worsen measurement precision, so certain measures are adopted to eliminate systematic errors. On the basis of vehicle´s attitude, the relations between installation positions of antennas and vehicle´s centroid were analyzed, navigation solution under spinning Multi-antenna conditions is designed. The solution modifies BDS observations of every antenna to vehicle cross-section center in order to eliminate the systematic errors because of difference installation position of antennas. With the vehicle´s attitude assistance, the position errors and velocity errors could be reduced to millimeter and centimeter range. So the solution could ensure the measurement precision of high dynamic spinning vehicle´s trajectory. The research results have important theoretical significance and engineering practical value.