Attitude From Combined GPS and Imaging System Data

Scott C. Rosengren, Eric Sutton

Abstract:	"Combining the results from Structure from Motion (SfM) processing of two overlapping images with precise GPS differential carrier phase positioning yields an essentially ÒfreeÓ attitude estimate for the platform aircraft. This technique is Òfree,Ó because it uses sensor systems already required on the platform aircraft for other reasons. The SfM processing results in a displacement vector in the body coordinate system between the two camera locations. The GPS differential carrier phase positioning is used to produce an extremely accurate displacement vector in a local level coordinate system. Once two vectors are found that are expressed in both coordinate systems, then the transformation between the two coordinate systems can be found. This corresponds directly to the platform vehicleÕs attitude. A detailed error analysis on a linearized model of the system shows that errors in the attitude estimate are on the order of tens of mrad for a measurement error standard deviation of one pixel"
Published in:	Proceedings of the 61st Annual Meeting of The Institute of Navigation (2005) June 27 - 29, 2005 Royal Sonesta Hotel Cambridge, MA
Pages:	961 - 969
Cite this article:	Rosengren, Scott C., Sutton, Eric, "Attitude From Combined GPS and Imaging System Data," Proceedings of the 61st Annual Meeting of The Institute of Navigation (2005), Cambridge, MA, June 2005, pp. 961-969.
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