Dynamic GPS Attitude Performance Using INS/GPS Reference

C. McMillan, Dale Arden, Gérard Lachapelle and Gang Lu

Abstract:	A system for determining dynamic heading and attitude was installed on a 75 metre research vessel, the Endeavour, for performance evaluation. This system uses three or four independently operated, PC based, GPS cards (NovAtel GPSCardW model 951R) each with its own antenna. These are lo-channel, narrow-correlator-spacing receivers. The antennas were installed with about a 9 meter port-starboard separation, a 36 meter fore& separation and a 6 meter vertical separation. Seven days of data were collected at sea at a one Hz rate, and several hours of data were collected at 10 Hz. Data was also collected from two inertial navigators (Sperry Mk29s) at 12.5 Hz, and from DGPS at one Hz. From these, two nominally independent (in attitude), optimally integrated INSJDGPS solutions were produced. Using these as reference, the accuracy performance of the GPS attitude determining system is evaluated, with error statistics presented and a linear stochastic error model derived. Of particular interest is the dynamic performance at higher rates (10 Hz) and longer baselines,
Published in:	Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994) September 20 - 23, 1994 Salt Palace Convention Center Salt Lake City, UT
Pages:	675 - 682
Cite this article:	McMillan, C., Arden, Dale, Lachapelle, Gérard, Lu, Gang, "Dynamic GPS Attitude Performance Using INS/GPS Reference," Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1994), Salt Lake City, UT, September 1994, pp. 675-682.
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