New method for single epoch, single frequency land vehicle attitude determination using low-end GPS receiver

Abstract

Stand-alone, unaided, single frequency, single epoch attitude determination is the most challenging case of GNSS compass processing. For land vehicle applications, the baseline approximately lies in the plane of the local geodetic horizon. This provides an important constraint that can be exploited to directly aid the ambiguity resolution process. We fully integrate the constraint into the observation equations, which are transformed orthogonally. Our method can acquire the high-quality float solution by means of a heading search strategy. The fixed solution is obtained by weighted constrained integer least squares for each possible heading. The correct solution is identified by three consecutive steps: Kolmogorov-Smirnov test, heading verification, and global minimizer of the fixed ambiguity objective function. The analysis focuses on single frequency, single epoch land vehicle attitude determination using low-end GPS receivers with very low precision of carrier phase and code measurements. The error analysis is given for choosing a proper baseline length in practical application. Experimental results demonstrate that this scheme can improve the ambiguity success rate for very short baseline.

The Inertial Attitude Augmentation for Ambiguity Resolution in SF/SE-GNSS Attitude Determination

“…${\text{boldC}}_{\text{b}}^{\text{n}}$ is an orthogonal matrix, hence, ${{\text{boldw}}_{\text{Rand}}^{\text{n}}}^{\prime }={\text{boldC}}_{\text{b}}^{\text{n}}\left(t\right)\left({{\text{boldw}}_{\text{Rand}}^{\text{b}}}^{\prime }\right)$ retains the statistical characteristics of ${\text{boldw}}_{\text{Rand}}^{\text{b}}$ [12,23], which means ${{\text{boldw}}_{\text{Rand}}^{\text{n}}}^{\prime }$ is still a white noise vector. A random walking item ${\text{boldν}}_{\text{Walk}}^{\text{n}}$ will be obtained by integrating the white noise vector ${{\text{boldw}}_{\text{Rand}}^{\text{n}}}^{\prime }$ with respect to t .…”

A Novel GNSS Attitude Determination Method Based on Primary Baseline Switching for A Multi-Antenna Platform

“…It is shown that the major sources of errors are offsets and variations of the differential antenna phase patterns. In addition, the attitude quaternion or Euler angles can also be taken as the parameter to be solved by GNSS attitude determination, which can be solved together with the integer ambiguity [23,24]. However, this kind of method needs the initial value of the attitude.…”

Instantaneous GNSS attitude determination: A Monte Carlo sampling approach

“…The key to high-precision GNSS attitude determination is integer ambiguity resolution. Compared with motion-based ambiguity resolution methods [11,[15][16][17] which exploit the time-varying receiver-satellite geometry, search-based methods [7,[12][13][14][18][19][20][21][22][23][24][25] achieve instantaneous attitude determination and can be used in GNSS-challenged environments where frequent losses of lock occur. Among various search-based methods, the LAMBDA (Least-squares AMBiguity Decorrelation Adjustment) method [20,26] and its variants [6][7][8][9]21,22,[27][28] have been widely used for their numerical efficiency and high success rate.…”