An Efficient Algorithm for Attitude Determination Using GPS

Assaf Nadler, and Itzhack Y. Bar-Itzhack

Abstract:	An algorithm was recently introduced for finding the attitude of a three dimensional body from GPS phase measurements. That algorithm was based on a QUEST-like cost function which connects the cost to the phase measurements and the attitude quaternion. However, contrary to the QUEST cost function, a closed form solution for the optimal quaternion was not found. Therefore, an iterative algorithm was sought for finding the quaternion which minimized that cost func-tion. The iterative algorithm which was derived did converge to the correct quaternion; however, the convergence rate was very slow. In this paper we present a new iterative algorithm which is based on the Newton-Raphson method. Its convergence rate is fast and the accuracy is at least as good as that obtained when using the QUEST algorithm.
Published in:	Proceedings of the 11th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1998) September 15 - 18, 1998 Nashville, TN
Pages:	1783 - 1789
Cite this article:	Nadler, Assaf, Bar-Itzhack, Itzhack Y., "An Efficient Algorithm for Attitude Determination Using GPS," Proceedings of the 11th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1998), Nashville, TN, September 1998, pp. 1783-1789.
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