A GPS Attitude Determination System

1992 ◽  
Vol 45 (2) ◽  
pp. 192-204 ◽  
Author(s):  
Gregory J. Wilson ◽  
Jeffrey D. Tonnemacher
Keyword(s):  
System Analysis ◽  
Attitude Determination ◽  
Local Oscillator ◽  
Baseline Length ◽  
Differential Phase ◽  
Operating Environments ◽  
Receiver System ◽  
Additional Processing ◽  
Determination System ◽  
Stability Statistics

In 1991 Trimble Navigation introduced a Global Positioning System (Gps)-based attitude determination receiver capable of 3-axis solutions with accuracy to several milliradians for airborne, sea and land platforms. This paper discusses the physical, architectural, and operational features of this receiver system. Analysis of system performance will also be reviewed for various configurations and user applications. The Trimble Navigation attitude determination receiver uses differential carrier phase techniques to determine azimuth, pitch and roll angles of a 3-antenna array. This product is designed to operate in a variety of user applications and to withstand rugged operating environments. Trimble Navigation has expanded its proven GPS sensor architecture to incorporate three independent RF sections and additional processing channels to measure and process the differential phase between antennas on two orthogonal baselines. Direct measurement of differential phase utilizing a common local oscillator provides highly accurate relative phase data. The navigation and attitude processor computes azimuth, pitch, and roll angles as well as position, velocity and time. The solution accuracy and stability statistics are sensitive to various parameters. Antenna baseline length, signal multipath, platform dynamics and filtering are investigated. Test data from static and various dynamic platforms are also presented.

scholarly journals Receiver Time Misalignment Correction for GPS-based Attitude Determination

2015 ◽  
Vol 68 (4) ◽  
pp. 646-664 ◽  
Author(s):  
Xiaohong Zhang ◽  
Mingkui Wu ◽  
Wanke Liu
Keyword(s):  
Global Positioning System ◽  
Attitude Determination ◽  
Low Cost ◽  
Baseline Length ◽  
Test Results ◽  
System A ◽  
Global Positioning ◽  
Determination System ◽  
Commercial Off The Shelf ◽  
Baseline Estimation

A prerequisite for a Global Positioning System (GPS) attitude determination is to calculate baselines between antennae with accuracy at the millimetre level simultaneously. However, in order to have a low cost attitude determination system, a set of Commercial-Off-The-Shelf (COTS) receivers with separate clocks are used. In this case, if the receiver clocks are not precisely synchronized, the baseline vector between antennae will be calculated from the GPS signals received at different times. This can be a significant error source for high-kinematic applications. In this paper, two equivalent and effective approaches are developed to compensate this significant bias for baseline estimation and attitude determination. Test results using real airborne GPS data demonstrate that the receiver time misalignment between the two receivers can result in a 5 cm baseline offset for an aircraft with a 50 m/s velocity; the corresponding attitude errors can reach about 0·50° in yaw and 0·10° in pitch respectively for the attitude determination system with a baseline length of 3·79 m. With the proposed methods, these errors can be effectively eliminated.

Federated nonlinear predictive filtering for the gyroless attitude determination system

2016 ◽  
Vol 58 (9) ◽  
pp. 1671-1681 ◽  
Author(s):  
Lijun Zhang ◽  
Shan Qian ◽  
Shifeng Zhang ◽  
Hong Cai
Keyword(s):  
Attitude Determination ◽  
Determination System ◽  
Predictive Filtering

Development of an instantaneous GNSS/MEMS attitude determination system

GPS Solutions ◽  
2012 ◽  
Vol 17 (1) ◽  
pp. 129-138 ◽  
Author(s):  
Christian Eling ◽  
Philipp Zeimetz ◽  
Heiner Kuhlmann
Keyword(s):  
Attitude Determination ◽  
Determination System

scholarly journals An Integrated Positioning and Attitude Determination System for Immersed Tunnel Elements: A Simulation Study

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7296
Author(s):  
Guanqing Li ◽  
Lasse Klingbeil ◽  
Florian Zimmermann ◽  
Shengxiang Huang ◽  
Heiner Kuhlmann
Keyword(s):  
Sound Speed ◽  
Attitude Determination ◽  
Satellite System ◽  
Sufficient Accuracy ◽  
Navigation Satellite ◽  
Accuracy Analysis ◽  
Absolute Position ◽  
Immersed Tunnel ◽  
Determination System ◽  
Global Navigation Satellite

Immersed tunnel elements need to be exactly controlled during their immersion process. Position and attitude of the element should be determined quickly and accurately to navigate the element from the holding area to the final location in the tunnel trench. In this paper, a newly-developed positioning and attitude determination system, integrating a 3-antenna Global Navigation Satellite System (GNSS) system, an inclinometer and a range-measurement system, is presented. The system is designed to provide the absolute position of both ends of the element with sufficient accuracy in real time. Special attention in the accuracy analysis is paid to the influence of GNSS multipath error and sound speed profile. Simulations are conducted to illustrate the performance of the system in different scenarios. If both elements are very close, the accuracies of the system are higher than 0.02 m in the directions perpendicular to and along the tunnel axis.

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