Abstract
In this paper, a multiple antenna global positioning system (GPS) receiver model is outlined. It is seen that this model is strongly non-linear in formulation and the subsequent linearisation steps required for extended Kalman filter (EKF) mechanisation introduce undesirable effects. These effects manifest themselves as significant biases in the estimates at steady state. In response, a Gaussian sum filter (GSF) structure is utilised and a simulated comparison with the EKF mechanisation is performed. These results illustrate the superior performance of the GSF structure for the attitude determination problem.
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