RTK/SINS-based high dynamic positioning attitude-determining system and method

The invention discloses an RTK/SINS-based high dynamic positioning attitude-determining system and method. A GNSS module, an SINS module and an RTK communication module are arranged. The method comprises the following steps: after the system is powered on and started, initializing the GNSS module and utilizing the GNSS module to assist the SINS module in completing initializing; calculating a data chain along a sight direction of a base station by the GNSS module, transmitting a Doppler frequency shift, feeding into the RTK communication module and assisting in tracking; receiving differential data broadcast by the base station and transmitting to the GNSS module by the RTK communication module; acquiring the observed volume of Kalman filtering by the GNSS module, and acquiring the forecast volume of Kalman filtering by the SINS module; performing Kalman filtering on the forecast volume of SINS and the observed volume of GNSS, and outputting an integrated navigation result; and calculating a new corrected carrier Doppler frequency shift, feeding into a GNSS tracking loop and assisting, and continuously iterating till the ending of the navigation.