Abstract
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.
Highlights
As contemporary applications such as driverless cars or autonomous shipping are called to revolutionize intelligent transportation systems (ITS), there is a growing need for the provision of precise and reliable navigation information
The performance characterization of the proposed joint positioning and attitude (JPA) was compared against positioning and attitude determination solutions obtained in a separate manner
This article provided a discussion of Global Navigation Satellite Systems (GNSS) carrier phase-based positioning and attitude determination
Summary
As contemporary applications such as driverless cars or autonomous shipping are called to revolutionize intelligent transportation systems (ITS), there is a growing need for the provision of precise and reliable navigation information. Global Navigation Satellite Systems (GNSS) play a fundamental role, becoming the main information supplier of positioning, navigation, and timing (PNT) data. That is the reason why the transition to carrier phase-based techniques is required to reach precise navigation. Carrier phase observations present noise levels two orders of magnitude lower than their code counterpart. Carrier phase observations are ambiguous, since only their fractional part is measured by the receiver [1]. The unknown number of integer cycles between satellite and receiver, so-called ambiguities, must be estimated to enable high-precision navigation. The ambiguities’ estimation process is widely known as ambiguity resolution (AR) [2,3,4,5], which in turn results in a challenging estimation procedure
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