Using GPS to Determine Vehicle Attitude: USS Yorktown Test Results

Leonard R. Kruczynski, Pui C. Li, Alan G. Evans, Bruce R. Hermann

Abstract:	In mid-July 1988, GPS-based orientation determination equipment was tested on the USS YORKTOWN, a U.S. Navy guided missile cruiser. Four days of testing were conducted in port and two days of dynamic testing were completed while under way. The objective of the tests was to provide a data base of real-world measurements from which orientation algorithms could be evaluated. Data collection was very successful. Despite a less-than­ optimum location for the antenna array, enough data was collected during the satellite visibility periods to provide almost continuous one-Hertz orientation solutions. The standard deviation of the GPS-based orientation solutions was typically less than 2 degrees in azimuth, 5 1/2 degrees in pitch and 7 degrees in roll. There was no difference in RMS performance between static test data and dynamic test data. When scaled from the 60 em baseline used for the principal direction to a 25 meter baseline more typical of previous research, the 2 degree azimuth RMS would drop to 0.1 degree. The absolute accuracy of the GPS solutions could not be evaluated to better than a few degrees because of the lack of an accurate connection to the ship's orientation data. The real-time integer maintenance algorithm worked very well. The USS YORKTOWN tests successfully confirmed GPS-­based real-time orientation determination, provided real-world data to exercise enhanced orientation algorithms, and identified equipment improvements that will make GPS a viable source of vehicle attitude in addition to GPS's superior positioning capabilities.
Published in:	Proceedings of the 2nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1989) September 27 - 29, 1989 The Broadmoor Hotel Colorado Spring, CO
Pages:	163 - 171
Cite this article:	Kruczynski, Leonard R., Li, Pui C., Evans, Alan G., Hermann, Bruce R., "Using GPS to Determine Vehicle Attitude: USS Yorktown Test Results," Proceedings of the 2nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1989), Colorado Spring, CO, September 1989, pp. 163-171.
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