GNSS Attitude Determination Using a Constrained Wrapped Least Squares Approach

Xing Liu, Tarig Ballal, and Tareq Y. Al-Naffouri

Abstract: Global Navigation Satellite Systems (GNSS) based attitude determination has become an essential alternative to conventional techniques. carrier-phase integer ambiguity resolution is the primary challenge for high-precision GNSS attitude determination. In this contribution, we develop a constrained wrapped least squares (C-WLS) method to estimate a vehicle’s attitude innovatively. The proposed method avoids the complicated process of resolving integer ambiguities by directly employing ambiguous carrier-phase observations to determine a vehicle’s attitude through a search procedure in the solution space. The proposed method also takes advantage of a novel optimization model, which leverages prior information such as antenna configuration, the integer property of the carrier-phase ambiguity, and the noise distribution of carrier-phase observations. The performance of the proposed method is verified using both simulation and experimental data. The results show that the proposed C-WLS method outperforms the renowned constrained LAMBDA method in various performance areas.
Published in: 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)
April 20 - 23, 2020
Hilton Portland Downtown
Portland, Oregon
Pages: 1135 - 1139
Cite this article: Liu, Xing, Ballal, Tarig, Al-Naffouri, Tareq Y., "GNSS Attitude Determination Using a Constrained Wrapped Least Squares Approach," 2020 IEEE/ION Position, Location and Navigation Symposium (PLANS), Portland, Oregon, April 2020, pp. 1135-1139.
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