Attitude determination using a multi‐antenna GPS system for hydrographic applications
作者:
Gang Lu,
M.Elizabeth Cannon,
期刊:
Marine Geodesy
(Taylor Available online 1994)
卷期:
Volume 17,
issue 4
页码: 237-250
ISSN:0149-0419
年代: 1994
DOI:10.1080/15210609409379733
出版商: Taylor & Francis Group
关键词: attitude determination;GPS multi‐antenna system;INS
数据来源: Taylor
摘要:
A four‐antenna GPS attitude determination system was used to estimate roll, pitch, and heading parameters of a 52‐meter surveying vessel in an operational marine environment. The least squares algorithm for platform attitude estimation using multiple baseline vector observables is presented. An efficient on‐the‐fly carrier phase ambiguity searching method is derived, which utilizes the Cholesky decomposition method and the known baseline constraints between the GPS antennas to construct the potential ambiguity sets on the sphere. The accuracy of the estimated attitude parameters from the GPS multi‐antenna system was assessed with an independent inertial navigation system (INS). Results from sea trials show that the proposed GPS multi‐antenna system and processing algorithms delivered a satisfactory performance under various ship maneuvers. The accuracy of GPS estimated ship attitude parameters is better than 0.06 degrees at an output rate of 10 Hz. Such a performance demonstrates a new alternative means to provide accurate, reliable, and cost‐effective ship attitude information for hydrographic applications.
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