Implementation of a Least Mean Square Approach for a Low-Cost Short Baseline Attitude Determination

Nirav Parikh, Andrey Soloviev, and Frank van Graas

Abstract:	This paper explores the use of multiple Global positioning System (GPS) antennas for carrier phase-based attitude determination. The research presented herein focuses on estimating the attitude using low-cost sensors for short baseline platform applications (i.e. a baseline length on the order of 1 m). A single epoch instantaneous ambiguity resolution using approximate orientation and baseline length information is first implemented to resolve carrier phase integer ambiguities. Next, a Least Mean Square (LMS) solution is used to estimate baseline vectors from double differenced carrier phase measurements. An iterative LMS solution procedure is then applied to compute the platform attitude from estimates of baseline vectors. The iterative LMS attitude solution can be applied to any non-collinear baseline configuration. In addition, contrary to commonly used attitude determination methods, the iterative LMS attitude solution developed in the paper does not require commutativity of pitch, roll and yaw rotations and can be thus applied for an arbitrary type of angular motion. The paper uses simulation results and live data test results to demonstrate performance characteristics of the iterative LMS attitude solution.
Published in:	Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007) September 25 - 28, 2007 Fort Worth Convention Center Fort Worth, TX
Pages:	818 - 826
Cite this article:	Parikh, Nirav, Soloviev, Andrey, van Graas, Frank, "Implementation of a Least Mean Square Approach for a Low-Cost Short Baseline Attitude Determination," Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007), Fort Worth, TX, September 2007, pp. 818-826.
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