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Attitude Determination Using GPS Carrier Phase and Doppler Measurements

Soleimani, Hassan Ali | 2017

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 49758 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Ghanbarpour Asl, Habib
  7. Abstract:
  8. By using of raw measurements of GPS receivers including carrier phase and Doppler frequency we can estimate attitude parameters of a platform on which the receivers are installed in a proper orientation. In this research attitude parameters are estimated based on quaternions. To this end a discrete Kalman filter was designed to predict the attitude parameters by using of carrier phase double difference measurements and then update the predicted parameters by using of Doppler frequency double difference measurements. Doppler frequency measurements were used to estimate the quaternion rates which are used in update step of Kalman filter algorithm. A robust algorithm for carrier phase ambiguity resolution is proposed. To test the algorithm performance an attitude system was designed which consisted of three GPS receivers, a network of three GPS antennas and a laptop. A real time software was developed for communicating with receivers as well as log and display the results. A series of tests were performed for checking the performance of the system in static and dynamic situations. In these tests a network of three GPS antennas with 1 meter spacing was used. The results of 0.3440º RMS in heading, 0.8365º RMS in pitch and 0.9177º RMS in Roll were achieved during static test
  9. Keywords:
  10. Global Position System (GPS) ; Attitude Determination ; Ambiguity Phase Resolution ; Carrier Phase ; Doppler Frequency

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