INS aided GPS integer ambiguity resolution and real time vehicle attitude determination

Gannan Yuan, Tao Li, Dandan Wang, Li'na Zhang

研究成果: Conference article査読

1 被引用数 (Scopus)


It is the crux for high-precision real time attitude determination using carrier phase measurements and the key issue using carrier phase measurement for real time attitude determination is the carrier phase integer ambiguity resolution. Differencing GPS is of significance for GPS integer number cycle of ambiguity, which can eliminate the correlated errors such as the ephemeris prediction, residual satellite clock, troposphere errors etc. Multi-antenna GPS can achieve the attitude of the vehicle, but the precision of the multi-antenna attitude resolution can not meet the requirement of the engineering application. INS can offer the attitude of the vehicle in short time, but the accumulated errors of the INS are gradually increased. It can improve the precision of the vehicle through integrating GPS with INS. Integration with INS, as well as bridging the attitude solution through GPS outages, can also aid the GPS ambiguity resolution process by significantly reducing the search space. Differencing GPS attitude is very noisy but not drift. Therefore, differencing GPS and INS integration is essential for high precision vehicle real time attitude determination. This paper describes a fast and efficient technique for integer ambiguity resolution when INS sensors are available and simulation results illustrate the error analysis of the real time attitude determination. The test results reported that INS aided GPS can obtain the more precision attitude solution of the vehicle. The yaw and pitch angular of the vehicle enhanced nearly 0.02 deg and the roll angular improved 0.15deg.

ジャーナルProceedings of the Institute of Navigation Pacific Positioning, Navigation and Timing Meeting, Pacific PNT
出版ステータスPublished - 2013
イベントInstitute of Navigation Pacific Positioning, Navigation and Timing Meeting, PACIFIC PNT 2013 - Honolulu, United States
継続期間: 2013 4月 222013 4月 25

ASJC Scopus subject areas

  • 輸送
  • 海洋工学
  • 航空宇宙工学
  • 電子工学および電気工学
  • コンピュータ サイエンスの応用


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