Time-domain robust estimation method for rotating carrier velocity using GNSS dual-antenna reception

GNSS Doppler velocity measurement has become a core technology for aircraft velocity determination. However, when an aircraft adopts a side-mounted dual-patch antenna combined configuration and undergoes high-speed rotation, the rotational motion significantly modulates the GNSS Doppler observations and frequently induces outliers, leading to degraded velocity estimation accuracy. To address this issue, this paper proposes a robust Doppler velocity measurement method incorporating time-domain kinematic constraints. The method utilizes multi-epoch Doppler observations within a sliding window, integrates short-term kinematic characteristics to construct a state estimation model, and introduces the Institute of Geodesy and Geophysics, Chinese Academy of Sciences, Version III (IGG III) equivalent weight function for robust estimation. Semi-physical simulation results demonstrate that the proposed method achieves an average three-dimensional velocity measurement standard deviation of 0.241 8 m/s, representing a 66.55% improvement in accuracy compared to the single-epoch Doppler velocity method. This significantly enhances the reliability and accuracy of GNSS velocity measurement in rotating environments.