Carrier phase GNSS attitude determination with the Multivariate Constrained LAMBDA method

Giorgi, Gabriele; Teunissen, Peter

doi:10.1109/aero.2010.5446910

Cited by 44 publications

(37 citation statements)

References 22 publications

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“…The MC-LAMBDA includes the whole set of nonlinear geometrical constraints in the ambiguity objective function. The results of testing the method indicate a dramatic improvement in the single-epoch/single-frequency success rate as well as a drastic reduction in the time-to-fix compared to its unconstrained counterpart (Giorgi and Teunissen, 2010;Giorgi et al, 2010a). However, owing to the nonlinear nature of the given constraints, the search algorithm would be inherently complex.…”

Section: Introductionmentioning

confidence: 91%

Geometrically constrained kinematic global navigation satellite systems positioning: Implementation and performance

Asgari

Mohammadloo

Amiri-Simkooei

2015

Advances in Space Research

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Section: Introductionmentioning

confidence: 91%

Geometrically constrained kinematic global navigation satellite systems positioning: Implementation and performance

Asgari

Mohammadloo

Amiri-Simkooei

2015

Advances in Space Research

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“…In principle, the search can proceed by means of an extensive search within the set The choice of the scalar χ is now more complicated, due to the large weighting given to the last term in (19) by the matrices QR t(Z) : these are driven by the higher precision of the carrier phase observations, and largely amplify the value assumed by the cost function C(Z) for any uncorrect ambiguity matrix Z , resulting in very large search spaces Ω c χ 2 = C(Z ) . Moreover, the computation of C(Z) involves the solution of K constrained least-squares problems (20), increasing the computational load when it has to be done for many candidates in Ω c χ 2 . Two different approaches that overcome both the problems of setting the proper size for the search space and the repetitive computation of (20) have been developed, namely the Expansion [18]- [20] approach and the Search and Shrink approach [20]- [23].…”

Section: B the Ils Solutionmentioning

confidence: 99%

Enhancing the Time-To-Fix for the unaided single-frequency integer ambiguity resolution in GNSS attitude determination applications

Giorgi

Teunissen

Odijk

et al. 2010

IEEE/ION Position, Location and Navigation Symposium

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GNSS-based attitude determination is a viable technique with a large spectrum of applications. Attitude determination requires an accurate relative positioning solution, that can be provided by the very precise GNSS carrier phase observables. The phase observables are, however, biased by unknown integer ambiguities, that must be resolved in order to fully exploit their higher precision. By applying the optimal integer least-squares (ILS) principle and introducing a nontrivial modification of the popular LAMBDA method, a set of geometrical nonlinear constraints given by the known antennas placement on the platform is embedded in the ambiguity search method. The multivariate constrained LAMBDA method is described and tested: the large improvement in fixing the correct set of integer ambiguities from single-frequency, single-epoch observations is stressed, as this is the most challenging scenario for ambiguity resolution. The method is tested by processing and analyzing actual GNSS data, collected on both static and dynamic platforms. The experimental results show the enormous improvement obtained when applying the nonlinearly constrained, mixed integer GNSS attitude model, resulting in a very strong reduction in the Time-To-Fix.

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“…), and for manned aircraft [5][6][7][8] and ship applications [9]. Due to the low volume/ weight of current carrier-phase GNSS receivers, and the extremely high accuracy attainable notwithstanding their lower cost, interferometric GNSS technology is becoming an excellent candidate for future UAV applications [10]. The accuracy of the GNSS Attitude Determination (GAD) systems is affected by several factors including the selected equipment/algorithms and the specific platform installation geometry, with the baseline length and multipath errors being the key elements dominating GAD systems performance [10][11][12] developed an extension of the known Least-squares Ambiguity Decorrelation Adjustment (LAMBDA) method [13] for solving nonlinearly constrained ambiguity resolution problems associated to GNSS attitude determination.…”

Section: Introductionmentioning

confidence: 99%

“…One of the main challenges of implementing GAD systems for attitude determination in UAV and other aerospace platforms is the need of resolving integer ambiguity in real-time in order to obtain reliable attitude estimations [10]. In recent years several techniques have been developed for integer ambiguity resolution.…”

Section: Introductionmentioning

confidence: 99%

“…In recent years several techniques have been developed for integer ambiguity resolution. Giorgi et al [10] In terms of data rate, Pinchin [8] suggests that a typical AHRS/ INS system provides attitude measurements upwards of 100Hz where as a GAD system output is in the order of 1-5Hz which is too low for high dynamics platform applications. In small UAV platforms a simple solution that integrates a low cost GNSS/MEMS-IMU system for attitude determination may be also affected by vibrations and aerodynamic effects acting on the platform itself (e.g., aeroelasticity).…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Carrier-phase GNSS Attitude Determination and Control for Small Unmanned Aerial Vehicle Applications

Sabatini

Kaharkar²,

Bartel³

et al. 2013

J Aeronaut Aerospace Eng

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As part of our recent research to assess the potential of low-cost navigation sensors for Unmanned Aerial Vehicle (UAV) applications, we investigated the potential of carrier-phase Global Navigation Satellite System (GNSS) for attitude determination and control of small size UAVs. Recursive optimal estimation algorithms were developed for combining multiple attitude measurements obtained from different observation points (i.e., antenna locations), and their efficiencies were tested in various dynamic conditions. The proposed algorithms converged rapidly and produced the required output even during high dynamics manoeuvres. Results of theoretical performance analysis and simulation activities are presented in this paper, with emphasis on the advantages of the GNSS interferometric approach in UAV applications (i.e., low cost, high data-rate, low volume/weight, low signal processing requirements, etc.). The simulation activities focussed on the AEROSONDE UAV platform and considered the possible augmentation provided by interferometric GNSS techniques to a low-cost and low-weight/volume integrated navigation system (presented in the first part of this series) which employed a Vision-Based Navigation (VBN) system, a MicroElectro-Mechanical Sensor (MEMS) based Inertial Measurement Unit (IMU) and code-range GNSS (i.e., GPS and GALILEO) for position and velocity computations. The integrated VBN-IMU-GNSS (VIG) system was augmented using the inteferometric GNSS Attitude Determination (GAD)sensor data and a comparison of the performance achieved with the VIG and VIG/GAD integrated Navigation and Guidance Systems (NGS) is presented in this paper. Finally, the data provided by these NGS are used to optimise the design of a hybrid controller employing Fuzzy Logic and Proportional-Integral-Derivative (PID) techniques for the AEROSONDE UAV.

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Carrier phase GNSS attitude determination with the Multivariate Constrained LAMBDA method

Cited by 44 publications

References 22 publications

Geometrically constrained kinematic global navigation satellite systems positioning: Implementation and performance

Geometrically constrained kinematic global navigation satellite systems positioning: Implementation and performance

Enhancing the Time-To-Fix for the unaided single-frequency integer ambiguity resolution in GNSS attitude determination applications

Carrier-phase GNSS Attitude Determination and Control for Small Unmanned Aerial Vehicle Applications

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