A Robust Filtering Scheme for Attitude/Rate Estimation with GNSS Signals

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

Abstract:	In this work a robust filtering scheme to determine the attitude and attitude rate of a vehicle, based on the phase measurements of GNSS signals is presented. The core of this scheme a Kalman filter with state equality constraints that arise from the geometry of the problem, providing attitude angles (or Euler angles) and angular rate estimates. It also incorporates a measurement validation test (MVT) and an estimation integrity test (EIT) that makes it robust against frequent carrier phase disturbances such as cycle slips and outliers. Moreover, an ambiguity correction stage is also included. These features reduce the need of ambiguity re-initialization, which is both a computational burden and time consuming process. The whole scheme provides highly accurate attitude and attitude rate estimations with an arbitrary array (beyond 3 non collinear antennas). Simulated and experimental results are presented.
Published in:	Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008) September 16 - 19, 2008 Savannah International Convention Center Savannah, GA
Pages:	1353 - 1364
Cite this article:	Garcia, Javier G., Roncagliolo, Pedro A., Muravchik, Carlos H., "A Robust Filtering Scheme for Attitude/Rate Estimation with GNSS Signals," Proceedings of the 21st International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2008), Savannah, GA, September 2008, pp. 1353-1364.
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