Abstract
The fixing process for cycle ambiguity is a major issue for attitude determination using multiple Global Navigation Satellite System (GNSS) antennas. Existing algorithms have used pseudorange with large noise and ambiguity-included carrier phase measurements so the volume of the ambiguity search space is inevitably large. We propose a new algorithm to determine the attitude of a rotating vehicle using Doppler measurement in a closed form. Using differential and angular velocity estimation, we can reduce the size of the search space and the number of ambiguity candidates. We present simulation results using one master and two slave GNSS antennas. For all the cases in our simulations, the probability of one epoch fix is over 97%. Moreover, we achieved resolution of the ambiguity in two consecutive epochs. In other words, the maximum time-to-first-fixed-attitude (TTFFA) of our algorithm is only two seconds. Our algorithm can reduce the computation load in the ambiguity resolution for rotational vehicle attitude; consequently, it will be helpful in rapid and accurate determination in a case of phase lock loss due to a complex maneuver such as a fast spin.
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Recommended by Editorial Board member Young Jae Lee under the direction of Editor Jae-Bok Song. This work was supported by Korea Aerospace Research Institute through KARI’s University Partnership Program contracted through the Institute of Advanced Aerospace Technology at Seoul National University.
Byungwoon Park is a senior researcher at Cadastral Research Institute in Korea Cadastral Survey Corp. He received his B.S., M.S., and Ph.D. degrees from Seoul National University. His research interests include WAD correction algorithms, alternative satellite navigation system, geodesy and RTK-GPS related algorithm.
Sanghoon Jeon received his B.S. degree from School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea, in 2004. Currently, He is in Ph.D. course at the School of Mechanical and Aerospace Engineering at Seoul National University. He is the leader of indoor navigation team of GNSS Lab. at Seoul National University. He is interested in GNSS signal processing, attitude determination receiver using GPS, software GNSS receiver.
Changdon Kee is a Professor in School of Mechanical and Aerospace Engineering, Seoul National University, Korea. He received his B.S. and M.S. degrees from Seoul National University and his Ph.D. degree from Stanford University in 1994. He has been involved in GPS research for more than 20 years, during which time he has made numerous contributions, most notably to the development of the Wide Area Augmentation System (WAAS).
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Park, B., Jeon, S. & Kee, C. A closed-form method for the attitude determination using GNSS Doppler measurements. Int. J. Control Autom. Syst. 9, 701–708 (2011). https://doi.org/10.1007/s12555-011-0411-0
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DOI: https://doi.org/10.1007/s12555-011-0411-0