Octopus: Four-antennae RTK System. New Attitude Determination Method and Experimental Results

Javad Ashjaee, Lev Rapoport, and Pavel Belikov

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 [2] and on the attitude determination engine. The last one estimates the rotation matrix using unbiased carrier phases provided be the RTK engine. Its numerical scheme is described in the present paper. 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 summarizing the static calibration test and the real flight test come next. The antenna mounting method is described also. The details of proofs and some pictures are taken out into Appendixes.
Published in:	Proceedings of the 2002 National Technical Meeting of The Institute of Navigation January 28 - 30, 2002 The Catamaran Resort Hotel San Diego, CA
Pages:	900 - 910
Cite this article:	Ashjaee, Javad, Rapoport, Lev, Belikov, Pavel, "Octopus: Four-antennae RTK System. New Attitude Determination Method and Experimental Results," Proceedings of the 2002 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2002, pp. 900-910.
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