Abstract
RTK-GPS (Real-Time Kinematic GPS) has an ability to fix a position of the order of cm by measuring the range from the GPS satellites with the accuracy of the mm order by the carrier phase detection. The authors tried to deduce 3-dimensional attitude of a ship by measuring the relative positions between reference station and mobile stations on the ship by RTK-GPS. In comparing the angles deduced from GPS positioning to those by yaw rate gyro and vertical gyro on a ship, we get 0.240°(yawing), 0.203°(rolling), 0.096°(pitching) of standard deviation, respectively. The output delay of the relative position was also measured to be about 0.4s which can be neglected in the measurement of the ship's attitude.
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