A novel static calibration method for antenna position error based on CDGPS

In the GPS/INS Navigation System, the accuracy of navigation result is influenced directly by the position error of GPS antennas. Research on the static calibration method of position error is conducted. With the foundation of Carrier phase Differential GPS (CDGPS) basic formula, the longtime observation position error calibration equation is created through the analysis of error sources, a novel calibration algorithm based on attitude angle search is proposed, in which the best estimation vectors are selected according to the least squares method and residuals of observation equation, then an iteration calibration is carried out after the attitude determination process. No extra equipments are required besides the original GPS components. The numeric simulation and practical tests are conducted to verify the algorithm, comparison results with other methods which show the accuracy and effectiveness of the algorithm are also presented.