Pose estimation is a key issue for vehicle navigation. Its precision has a great significance on20 vehicle automatic driving, driver assistance and vehicle dynamics research. In order to obtain high-precision pose, a vehicle pose estimation method based on dual-GPS was designed. Through Gauss projection and yaw estimation algorithm, the pose of the vehicle was calculated by the location information from the dual-GPS which were installed on the longitudinal axis of the vehicle. On this basis, the cause of the method’s error was analyzed, the data synchronization based on UTC time and25 the circular orbit error elimination method based on M-estimation were proposed. Experiment results showed that the method is convenient and reliable, with a high precision.%位姿估计是车辆导航研究中的一个核心问题，其精确性对车辆自动驾驶、辅助驾驶和车辆动力学研究具有重要意义。为了获得高精度的车辆位姿，设计了一种基于双GPS的车辆位姿估计方法。安装在车辆纵向轴线上的两个GPS所得到的定位信息，通过高斯投影和偏航角估计得到车辆位姿。在此基础上，分析了方法误差产生的原因，提出了基于UTC时间的数据同步和基于M估计的圆轨误差纠正方法。通过实验验证了该方法方便可靠，具有较高的位姿测量精度。
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