Abstract
The attitude information of ground vehicles, i.e., heading and pitch information, can be used for many transport applications. This information can be determined through various solutions of onboard sensors, including magnetic sensors, inertial sensors, GNSS equipment, and their combinations. In order to find a cost-effective solution, we propose here a new toolbox named Vehicle Attitude Determination toolbox from the Intelligent Transportation And Geomatics group (iTAG_VAD) that determines vehicle dynamic heading and pitch using only one single-frequency GPS antenna, reducing costs while retaining an acceptable heading and pitch accuracy. In this toolbox, by using the constraints of the vehicle motion and road geometry, two variations in a time-differenced measurement model, i.e., Time-Differenced Carrier Phase (TDCP) and Time-Differenced Pseudorange (TDPR), are developed for heading and pitch determination. The results show that both proposed TDCP- and TDPR-based models are able to provide an accurate heading and pitch estimation with a root mean square error below the one-degree level, which is sufficient for many land-based applications. We describe the toolbox and its implementation in MATLAB in detail.
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