Attitude Determination Using GPS Carrier Phase and Compass Data

H. M. Peng and F. R. Chang, L. S. Wang

Abstract:	In this paper, the GPS carrier phase observable and the compass data are used together to fmd the attitude of the vehicle. By the quatemion representation of the attitude matrix, the QUEST (quatemion estimator) algorithm is adopted to find the optimal attitude. The QUEST method, however, processes a batch of measurements collected at one epoch. For considering the total measurements in all epochs, the REQUEST (recursive QUEST) algorithm is used to estimate the optimal attitude. To veri~ our algo-rithm, the static and the kinematic simulations have been conducted. The body fiarne is built by three GPS antemas with two aligned compasses. The static simulations are conducted f~t to compare the results computed by the QUEST method and the REQUEST algorithm. The kine-matic simulations are also conducted to demonstrate the REQUEST algorithm.
Published in:	Proceedings of the 1999 National Technical Meeting of The Institute of Navigation January 25 - 27, 1999 Catamaran Resort Hotel San Diego, CA
Pages:	727 - 732
Cite this article:	Peng, H. M., Chang, F. R., Wang, L. S., "Attitude Determination Using GPS Carrier Phase and Compass Data," Proceedings of the 1999 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1999, pp. 727-732.
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