Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 201 2019
DOI: 10.33012/2019.16963
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Attitude Determination via GNSS Carrier Phase and Inertial Aiding

Abstract: Attitude Determination (AD) constitutes an important navigation component for vehicles that require orientation information, such as spacecraft or ships. Global Navigation Satellite Systems (GNSS) enable resolving the orientation of a vehicle in a precise and absolute manner, by employing a setup of multiple GNSS antennas rigidly mounted onboard the tracked vehicle. To achieve high-precision attitude estimation based on GNSS, the use of carrier phase observations becomes indispensable, with the consequent adde… Show more

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Cited by 9 publications
(8 citation statements)
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“…Hence, as a second way to improve the computational efficiency of attitude estimation using orthonormality constraints, we employ a more efficient solver to compute the constrained float solution. The nonlinearly constrained least-squares problem can be solved, for example, through parameterization [37]- [39] or using the Lagrange multipliers method [40], [41]. The solution is usually implemented using an iterative technique such as the Newton's or Gauss-Newton methods [40], [42].…”
Section: Global Navigation Satellite System (Gnss)-based Attitude Det...mentioning
confidence: 99%
See 1 more Smart Citation
“…Hence, as a second way to improve the computational efficiency of attitude estimation using orthonormality constraints, we employ a more efficient solver to compute the constrained float solution. The nonlinearly constrained least-squares problem can be solved, for example, through parameterization [37]- [39] or using the Lagrange multipliers method [40], [41]. The solution is usually implemented using an iterative technique such as the Newton's or Gauss-Newton methods [40], [42].…”
Section: Global Navigation Satellite System (Gnss)-based Attitude Det...mentioning
confidence: 99%
“…If we ignore the last two terms in (37), we can define a loose-form solution of RieMOCAD (RieMOCAD-LF); that is, we calculate the closest integer estimations to the float solution NRM in the metric of the associated weight matrix min…”
Section: Decomposition Of the Objective Functionmentioning
confidence: 99%
“…26]. The observation noise η t has a fully populated covariance matrix R t ∈ R ny×ny , as described in [46]. Multipath and non-line-of-sight (NLOS) effects lead to gross biases in the range observations to the satellites.…”
Section: A Gps Rtk Problem Formulationmentioning
confidence: 99%
“…Notice that the aforementioned adjustment constitutes a local search for (23a), and thus, the initial quaternion should be carefully chosen [36]. Likewise, solution fixing (23c) also makes use of the Lie algebra, the fixed solution being updated via exponential mapping, as described in [37].…”
Section: Integer Ambiguity Resolution For Attitude Determinationmentioning
confidence: 99%
“…As discussed in Section 2.3, the presented prediction model describes the movement behavior of a non-maneuvering vehicle. A more precise prediction step would integrate inertial measurements, for which the modification of the proposed ESKF can be realized straightforwardly following [28,37].…”
Section: Prediction Stepmentioning
confidence: 99%