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Sensors 2017, 17(2), 296;

Real-Time GNSS-Based Attitude Determination in the Measurement Domain

1,2,* , 1
College of Automation, Harbin Engineering University, Harbin 150001, China
Academy of Opto-electronics, Chinese Academy of Sciences; Beijing 100094, China
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 12 December 2016 / Revised: 3 February 2017 / Accepted: 3 February 2017 / Published: 5 February 2017
(This article belongs to the Section Remote Sensors)
Full-Text   |   PDF [6583 KB, uploaded 6 February 2017]   |  


A multi-antenna-based GNSS receiver is capable of providing high-precision and drift-free attitude solution. Carrier phase measurements need be utilized to achieve high-precision attitude. The traditional attitude determination methods in the measurement domain and the position domain resolve the attitude and the ambiguity sequentially. The redundant measurements from multiple baselines have not been fully utilized to enhance the reliability of attitude determination. A multi-baseline-based attitude determination method in the measurement domain is proposed to estimate the attitude parameters and the ambiguity simultaneously. Meanwhile, the redundancy of attitude resolution has also been increased so that the reliability of ambiguity resolution and attitude determination can be enhanced. Moreover, in order to further improve the reliability of attitude determination, we propose a partial ambiguity resolution method based on the proposed attitude determination model. The static and kinematic experiments were conducted to verify the performance of the proposed method. When compared with the traditional attitude determination methods, the static experimental results show that the proposed method can improve the accuracy by at least 0.03° and enhance the continuity by 18%, at most. The kinematic result has shown that the proposed method can obtain an optimal balance between accuracy and reliability performance. View Full-Text
Keywords: attitude determination; partial ambiguity resolution; measurement domain; real-time kinematic; GNSS attitude determination; partial ambiguity resolution; measurement domain; real-time kinematic; GNSS

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Zhao, L.; Li, N.; Li, L.; Zhang, Y.; Cheng, C. Real-Time GNSS-Based Attitude Determination in the Measurement Domain. Sensors 2017, 17, 296.

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