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Attitude determination using double GPS receivers and gyro

Mohamad Hasani, A ; Sharif University of Technology | 2019

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  1. Type of Document: Article
  2. DOI: 10.1109/CDC.2018.8619202
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2019
  4. Abstract:
  5. This paper presents an asymptotically-convergent nonlinear attitude estimator for rigid bodies using a rate gyro and GPS. Double-difference carrier phase measurement are provided by at least two GPS antennas. The unknown integer ambiguity factor related to GPS carrier phase measurement is estimated along with the attitude. An observability condition is derived to guarantee convergence of the estimator when a single baseline vector is available with more than four satellites in view. Finally, experimental test from a survey boat illustrates performance of the proposed observer. © 2018 IEEE
  6. Keywords:
  7. Gyroscopes ; Phase measurement ; Satellite antennas ; Attitude determination ; Carrier-phase measurement ; Double differences ; Experimental test ; GPS carrier phase ; GPS receivers ; Integer ambiguity ; Single-baseline ; Global positioning system
  8. Source: Proceedings of the IEEE Conference on Decision and Control, 17 December 2018 through 19 December 2018 ; Volume 2018-December , 2019 , Pages 583-588 ; 07431546 (ISSN); 9781538613955 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/8619202