Abstract
Attitude determination is one of the most considerable applications in high-precision GNSS (Global Navigation Satellite System) positioning and navigation. For rigid-body applications, the baseline is approximately fixed on the same plane and its relative position does not change over time. This provides an important constraint that can be exploited to directly aid the attitude determination process. This study provides an attitude determination algorithm with orthogonal constraints for single frequency and single epoch by fully integrating the baseline orthogonal constraints into the observation equations. Carrier phase and pseudo-range measurement from more than two antennas are used to construct the double-difference observation equations. Given the inclusion analysis of the two search spaces, the LAMBDA algorithm is used to transform the non-ellipsoid space search into the ellipsoid space search. The attitude matrix is solved directly by the Lagrange multiplier method and the optimal solution is selected by search space verification. The analysis focuses on single-frequency, single-epoch, rigid-body attitude accuracy and calculation amount. Experimental results demonstrate that the proposed approach can effectively improve the success rate and reliability of single-frequency and single-epoch attitude resolution.
Highlights
GNSS-based attitude determination is a rich field of current studies, and there are a lot of methods of attitude determination that have been developed [1, 2]. e algorithm based on attitude determination includes error analysis and correction [3, 4] and attitude angle resolution
An attitude algorithm based on orthogonal transformation is proposed, which directly establishes the ambiguity-attitude matrix double-difference model by using the prior condition of the baseline configuration and orthogonal transformation, avoiding the intermediate step of baseline resolution. rough the inclusion analysis of the search space, the non-ellipsoid space search is transformed into the ellipsoid space search by using LAMBDA algorithm, the Lagrange multiplier is used [23, 24] to complete the attitude directly resolution, and search space verification is used to select the optimal solution
At least three antennas are necessary to complete attitude determination only using satellite navigation system to get precise attitudes such as heading, pitch, and roll. e antenna is fixed on the rigid body. ree receive antennas are provided, one of which serves as the primary antenna, forming a dual-baseline system
Summary
GNSS-based attitude determination is a rich field of current studies, and there are a lot of methods of attitude determination that have been developed [1, 2]. e algorithm based on attitude determination includes error analysis and correction [3, 4] and attitude angle resolution. Based on the attitude domain, a constrained ambiguity search method using a priori condition of attitude angle was proposed in [13] Another way is to solve it by the attitude matrix according to [14, 15]. Giorgi and Teunissen combined the baseline coordinates and attitude matrix solutions with orthogonal constraints to get an attitude matrix solution method based on orthogonal constraints [18] The former method includes the calculation of baseline coordinates and attitude matrix, which makes the attitude angle obtained contain two-step errors, and the attitude matrix obtained usually does not have orthogonality [19–21]. An attitude algorithm based on orthogonal transformation is proposed, which directly establishes the ambiguity-attitude matrix double-difference model by using the prior condition of the baseline configuration and orthogonal transformation, avoiding the intermediate step of baseline resolution. An attitude algorithm based on orthogonal transformation is proposed, which directly establishes the ambiguity-attitude matrix double-difference model by using the prior condition of the baseline configuration and orthogonal transformation, avoiding the intermediate step of baseline resolution. rough the inclusion analysis of the search space, the non-ellipsoid space search is transformed into the ellipsoid space search by using LAMBDA algorithm, the Lagrange multiplier is used [23, 24] to complete the attitude directly resolution, and search space verification is used to select the optimal solution
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