Abstract
Traditional attitude determination using global navigation satellite system (GNSS) carrier phases is mostly applied on geodetic-grade receivers with sufficient baseline length. However, for some special applications such as mobile communication base station smart antenna attitude determination, only low-cost receivers with ultra-short baselines can be employed, and the environments are more challenging. When solving the ambiguity resolution (AR) problem with low-cost receivers, it is hard for the traditional methods in ambiguity domain to estimate float ambiguities accurately due to the large code pseudorange noises; thus, such systems fail to determine the correct ambiguities. Aiming at improving the AR success rate for ultra-short baselines attitude determination with low-cost receivers, we provide an objective function named Mean Square Residual (MSR) based on the geometrical relationship among the position spherical search space, the fractional carrier phases, and the possible ambiguities. The method can be calculated without code pseudoranges, and thus, can provide a higher AR success rate when using low-cost receivers. The corresponding analysis and acceptance test method are discussed in this contribution, and further, as an extension for more complicated urban dynamic applications, a GNSS/Inertial Navigation System (INS) integrated system is introduced. Several experiments have been conducted to verify performance.
Highlights
IntroductionTraditional global navigation satellite system (GNSS)-based attitude determination applications are mostly implemented with geodetic-grade receivers and antennas with sufficient length of baselines and are generally deployed in open areas that are less affected by multipaths
Attitude determination with differential global navigation satellite system (GNSS) carrier phases is performed in a wide range of applications, including surveying, vehicle active safety, and driver assistance system and aircraft/ship attitude determination.Traditional GNSS-based attitude determination applications are mostly implemented with geodetic-grade receivers and antennas with sufficient length of baselines and are generally deployed in open areas that are less affected by multipaths
Several static/dynamic experiments in GNSS only or GNSS/Inertial Navigation System (INS) integration mode under different environments were conducted to evaluate the practical performance of the proposed method
Summary
Traditional GNSS-based attitude determination applications are mostly implemented with geodetic-grade receivers and antennas with sufficient length of baselines and are generally deployed in open areas that are less affected by multipaths. For some special scenarios, due to limits of budget and load capacity, only small and light-weight, low-cost receivers and antennas are applicable. For mobile communication base station smart antenna attitude determination, because of the large application demand, manufacturers prefer the use of low-cost devices, and usually, the GNSS antennas are installed right next to the base station within a small area, bringing problems like signal blockage and strong multipaths. As a common ground for the above-mentioned applications, because of the limited installation space, the antennas are usually placed at a short distance, forming an ultra-short baseline
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