Two-Antenna GPS and Low Cost INS Tight Integration for Attitude Determination

Yunchun Yang and Jay A. Farrell

Abstract:	This paper describes the design, analysis and implementation of a tightly integrated two-antenna carrier phase differential GPS/INS. One antenna GPS/INS approaches are unable to estimate heading errors when the navigation platform is not accelerating. The two antennae GPS/INS developed and demonstrated herein is able to accurately estimate the vehicle attitude (including heading). The accuracy of the estimated heading is dependent on the length of the lever arm separating the two GPS antennae. Experimental results from automotive lateral control are included herein. For the 0.965m lever arm of these experiments, heading accuracy was 0.I degree, even when the vehicle was stationary. The implemented system runs reliably in real-time using the QNX operating system. The INS update rate is 150 Hz. The position, velocity, and attitude (i.e., pitch and roll) accuracy demonstrated in the experiments are 2.5 cm, 1.0 cm/s, and 0.03 deg; Keywords" Global Position System, Inertial Navigation System, Attitude Determination, Carrier Phase, Integer Ambiguity Resolution
Published in:	Proceedings of the 14th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2001) September 11 - 14, 2001 Salt Palace Convention Center Salt Lake City, UT
Pages:	2690 - 2692
Cite this article:	Yang, Yunchun, Farrell, Jay A., "Two-Antenna GPS and Low Cost INS Tight Integration for Attitude Determination," Proceedings of the 14th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2001), Salt Lake City, UT, September 2001, pp. 2690-2692.
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