Application of Kalman Filter in GPS-Based Attitude Determination

Jyh-Ching Juang and Guo-Shing Huang

Abstract:	In this paper, several issues in applying nonlinear Kalman filter to GPS-based attitude determination are addressed. The governing equation that characterizes the attitude information and GPS measurements is developed. A nonlinear Kalman filter is then formulated to estimate attitude, integer ambiguity, and other relevant parame- ters. To account for the integer constraints and over- parametrization on the attitude, several schemes are pro- posed to augment standard Kalman filter iterations. An experiment using a rotating mechanism to emulate a spin- stabilized satellite and two carrier phase GPS receivers to provide measurement data is conducted in this work to assess the feasibility of the proposed algorithm.
Published in:	Proceedings of the 1997 National Technical Meeting of The Institute of Navigation January 14 - 16, 1997 Loews Santa Monica Hotel Santa Monica, CA
Pages:	307 - 311
Cite this article:	Juang, Jyh-Ching, Huang, Guo-Shing, "Application of Kalman Filter in GPS-Based Attitude Determination," Proceedings of the 1997 National Technical Meeting of The Institute of Navigation, Santa Monica, CA, January 1997, pp. 307-311.
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