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Article

On the Recursive Joint Position and Attitude Determination in Multi-Antenna GNSS Platforms

1
Institute of Communications and Navigation, German Aerospace Center (DLR), 17235 Neustrelitz, Germany
2
Computer Science and Engineering Department, Universidad Carlos III de Madrid, 28911 Madrid, Spain
3
ISAE-SUPAERO, University of Toulouse, 31055 Toulouse, France
4
Geodätisches Institut, Technische Universität Dresden, 01062 Dresden, Germany
*
Author to whom correspondence should be addressed.
Remote Sens. 2020, 12(12), 1955; https://doi.org/10.3390/rs12121955
Received: 19 May 2020 / Revised: 12 June 2020 / Accepted: 16 June 2020 / Published: 17 June 2020
Global Navigation Satellite Systems’ (GNSS) carrier phase observations are fundamental in the provision of precise navigation for modern applications in intelligent transport systems. Differential precise positioning requires the use of a base station nearby the vehicle location, while attitude determination requires the vehicle to be equipped with a setup of multiple GNSS antennas. In the GNSS context, positioning and attitude determination have been traditionally tackled in a separate manner, thus losing valuable correlated information, and for the latter only in batch form. The main goal of this contribution is to shed some light on the recursive joint estimation of position and attitude in multi-antenna GNSS platforms. We propose a new formulation for the joint positioning and attitude (JPA) determination using quaternion rotations. A Bayesian recursive formulation for JPA is proposed, for which we derive a Kalman filter-like solution. To support the discussion and assess the performance of the new JPA, the proposed methodology is compared to standard approaches with actual data collected from a dynamic scenario under the influence of severe multipath effects. View Full-Text
Keywords: GNSS; RTK positioning; attitude determination; Kalman filtering; quaternion rotation GNSS; RTK positioning; attitude determination; Kalman filtering; quaternion rotation
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MDPI and ACS Style

Medina, D.; Vilà-Valls, J.; Hesselbarth, A.; Ziebold, R.; García, J. On the Recursive Joint Position and Attitude Determination in Multi-Antenna GNSS Platforms. Remote Sens. 2020, 12, 1955. https://doi.org/10.3390/rs12121955

AMA Style

Medina D, Vilà-Valls J, Hesselbarth A, Ziebold R, García J. On the Recursive Joint Position and Attitude Determination in Multi-Antenna GNSS Platforms. Remote Sensing. 2020; 12(12):1955. https://doi.org/10.3390/rs12121955

Chicago/Turabian Style

Medina, Daniel, Jordi Vilà-Valls, Anja Hesselbarth, Ralf Ziebold, and Jesús García. 2020. "On the Recursive Joint Position and Attitude Determination in Multi-Antenna GNSS Platforms" Remote Sensing 12, no. 12: 1955. https://doi.org/10.3390/rs12121955

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