A Compensation Filter Design for Accurate GPS Attitude Determination

R. Ahohe

Abstract:	In this paper, we present the design of a filtering algorithm for estimating the attitude of a vehicle using single difference GPS carrier phase measurements. The algorithm improves the accuracy of GPS attitude determination systems by mitigating the impact of the antennas phase center variations on attitude estimation errors. We validate the algorithm design using experimental data from an attitude platform with a GPS antenna triad. The baseline length between the antennas is 16.43cm, which is less than the wavelength of the L1 signal. In the absence of estimates for the phase center variations, our analysis shows that the attitude errors can be large, even on baseline lengths that are several times larger than the L1 wavelength. We also show that our filter design helps to achieve attitude estimation errors less than 0.5o on the 16.43cm baseline attitude system.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	224 - 230
Cite this article:	Ahohe, R., "A Compensation Filter Design for Accurate GPS Attitude Determination," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 224-230.
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