Performance Improvement of the GPS Attitude Determination Receiver for the Unmanned Aero Vehicle

Sung Tae Kim, Jae Ho Lee, Seok Bo Son, Chansik Park and Sang Jeong Lee

Abstract:	When the GPS receiver is used for the attitude determination, the search space is usually determined from the covariance of the code measurement in the instantaneous integer ambiguity resolution methods. Using the constraint that the length of baseline is constant, the search space can be further reduced. Furthermore, the information of the vehicle velocity and the angle between two baselines vectors can further reduces the search space also. The real time computation can be possible with the reduction of the search space. To improve the availability, the low cost INS(Inertial Navigation System) and the GPS attitude determination receiver are integrated with the loosely coupled structure, in this paper. The GPS receiver provides the position, the velocity and the attitude to the INS. The Kalman filter in the INS estimates the position, the velocity and the attitude. The attitude is feedback to the GPS receiver, and they are used to determine the search space and validate the resolved integer ambiguity. The effectiveness of the proposed method was demonstrated using real van and flight test data. Using the information from the INS system dramatically reduced the search space and the computational time to determine the integer ambiguity in the GPS receiver. Using the attitude from the INS also reduced the probability of the false determination. The performance improvement in the integer ambiguity resolution will increase the availability and reliability of the GPS attitude determination receiver.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	1129 - 1135
Cite this article:	Kim, Sung Tae, Lee, Jae Ho, Son, Seok Bo, Park, Chansik, Lee, Sang Jeong, "Performance Improvement of the GPS Attitude Determination Receiver for the Unmanned Aero Vehicle," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 1129-1135.
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