Land Vehicle Guidance and Control with Sensor-Aided GPS Attitude Determination

Wei-Wen Kao

Abstract:	Attitude and baseline determination by multiple GPS receiver configurations and carrier-phase measurements have received wide attentions in recent years. Normally the techniques involve double or triple difference of the carrier-phase signals measured by different receivers in order to eliminate common mode errors such as signal delays, clock biases, and cycle ambiguities. The drawback of GPS based attitude/baseline determination is that it often requires either tedious and impractical procedures such as antenna swapping, or long initialization or ambiguity resolution time in start-up and reacquisition phase. These constraints unavoidably decrease the usefulness of the technique in real-time applications. Many modem navigation systems contain additional sensors for attitude information which can be used to remove these constraints. In the past, however, GPS based attitude/baseline determination seldom makes use of these information. In this paper we investigate several attitude and baseline determination methods. We found that some methods are more suitable for incorporating additional sensor information than others. Double difference method combined with ambiguity function minimization, baseline constraint, and compass heading can be used to speed up the initial ambiguity resolution time. In addition, re-initialization after GPS signal blockage can be greatly enhanced by the use of relative heading sensor.
Published in:	Proceedings of the 53rd Annual Meeting of The Institute of Navigation (1997) June 30 - 2, 1997 Albuquerque, NM
Pages:	493 - 500
Cite this article:	Kao, Wei-Wen, "Land Vehicle Guidance and Control with Sensor-Aided GPS Attitude Determination," Proceedings of the 53rd Annual Meeting of The Institute of Navigation (1997), Albuquerque, NM, June 1997, pp. 493-500.
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