Constrained Kalman Filter Based Attitude Estimation with GPS Signals

Javier G. Garcia, Pedro A. Roncagliolo and Carlos H. Muravchik

Abstract:	We present a new algorithm to determine the attitude of a vehicle based on the phase of GPS signals and a constrained Kalman filter, suitable for any configuration of the antenna array. The algorithm consists of a standard Kalman filter and a projection stage of the unconstrained state estimates on the manifold of the constraints. These constraints arise from considering the antenna array as a rigid body. The projection stage permits reducing the variance of state errors beyond the values achieved by introducing dynamics information via the Kalman filter. Simulation results illustrate this in a comparison with other methods, showing that the new algorithm has better performance and is applicable to any antenna configuration.
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:	849 - 857
Cite this article:	Garcia, Javier G., Roncagliolo, Pedro A., Muravchik, Carlos H., "Constrained Kalman Filter Based Attitude Estimation with GPS Signals," 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. 849-857.
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