Determinating relative motion trajectory and orientation angles by GNSS phase measurements and micromechanical gyroscope data

Using phase measurements for determining a vehicle’s attitude parameters by a GPS-aided inertial system

“…In this case, the time of the transient process lies within 3-4 min. 4. In order to decrease the effect of frequent ran dom changes of places of the NS i working pairs in the channels of the satellite receivers on IANS errors, each NS i pair was given a certain place in the vector (with or without using criterion (13)).…”

“…• the data obtained by processing all visible NS i with phase measurement ambiguities eliminated by the method described in [4] were used as reference val ues for calculating the heading and roll angle;…”

“…For the double differences in the phase measure ment values obtained from the data of two GNSS receivers, we have [5] , (4) where is the single difference between the phase measurements obtained from two antennas.…”

“…Here of vital importance is the resolution of the phase measurement ambiguity. This problem can be approached in different ways [3,4]. Neverthless, all of these methods require simultaneous observation and processing of phase mea surements from a group of navigation satellites (NS i ) and 1 The article is published in the original.…”

GNSS-based heading determination under satellite restricted visibility with a static baseline

“…They are Vega INS/GNSS system and its experimental light version (as regards gyro accuracy) ISON 1, which have passed a series of automobile and shipboard tests [11]. Publications on mathematical foundations of various heading and atti tude determination methods by GNSS phase mea surements are abundant [12][13][14][15][16][17][18][19][20]. Then always or nearly always the solution is obtained using the com plete constellation of GNSS satellites, i.e.…”