Attitude Determination Using Multipath Mitigation on Multiple Closely-Spaced Antennas

M.E. Cannon, J.K. Ray and J. Deschamps

Abstract:	The effect of multipath mitigation on accurate attitude determination using multiple antennas, spaced 10 to 14 cm apart, is investigated The correlated nature of multipath, along with the known geometry among the antennas, are used to aid in the extraction of the direct carrier phase from the multipath-corrupted carrier phase measurement. The mathematical model of the multipath effects on carrier phase measurements and the Kalman filter implemented to estimate these errors are described. It is then tested on static field data collected on a roof whereby the model adaptively estimates the parameters of the composite multipath signal. Initial results demonstrate substantial mitigation of carrier phase multipath signals from multiple sources using this technique under static conditions. The RMS value of the average multipath error on a single differenced carrier phase measurement data is typically reduced by over 70% percent. This technique estimates the parameters of the composite multipath signal and removes the error due to all multipath signals. Attitude determination is performed using the raw carrier phase measurements and the multipath mitigated measurements and the accuracy of the attitude angles from the two cases are compared and show an improvement in the 30-70% range.
Published in:	Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000) September 19 - 22, 2000 Salt Palace Convention Center Salt Lake City, UT
Pages:	2201 - 2208
Cite this article:	Cannon, M.E., Ray, J.K., Deschamps, J., "Attitude Determination Using Multipath Mitigation on Multiple Closely-Spaced Antennas," Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000), Salt Lake City, UT, September 2000, pp. 2201-2208.
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