Traditionally the
relative positioning and attitude determination
problem are treated as independent. In this
contribution we will investigate the
possibilities of using multiantenna (i.e., triple and
quadruple) data, not only for attitude
determination but also for relative
positioning. The methods developed are rigorous
and have the additional advantage that they
improve ambiguity resolution on the
unconstrained baseline(s) and the overall
success rate of ambiguity resolution between a
number of antennas.