Octopus: Four-antennae RTK System and New Attitude Determination Technique

Lev Rapoport, Valery Mogilnitsky and Javad Ashjaee

Abstract:	ABSTRACT The real time kinematic system for precise attitude determination on the based on carrier phases from four dual band GPS Half-Eurocard GD receivers [1] is considered in the paper. The system is based on the general purpose real time kinematic engine. It includes carrier phase differential ambiguity filter, on-the-fly ambiguity resolution, position and velocity estimators. The attitude determination engine estimates the rotation matrix using unbiased carrier phases. The system provides carrier phase differential position and three attitude angles. The paper is organized the following way. The architecture is discussed first. Then the methods are described. The performance results come next. The details of proofs of mathematical statements are taken out into Appendixes.
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:	2972 - 2979
Cite this article:	Rapoport, Lev, Mogilnitsky, Valery, Ashjaee, Javad, "Octopus: Four-antennae RTK System and New Attitude Determination Technique," 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. 2972-2979.
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