Testing of a new single-frequency GNSS carrier phase attitude determination method: land, ship and aircraft experiments

Abstract

Global navigation satellite system (GNSS) ambiguity resolution is the process of resolving the unknown cycle ambiguities of the carrier phase data as integers. The sole purpose of ambiguity resolution is to use the integer ambiguity constraints as a means of improving significantly on the precision of the remaining GNSS model parameters. In this contribution, we consider the problem of ambiguity resolution for GNSS attitude determination. We analyse the performance of a new ambiguity resolution method for GNSS attitude determination. As it will be shown, this method provides a numerically efficient, highly reliable and robust solution of the nonlinearly constrained integer least-squares GNSS compass estimators. The analyses have been done by means of a unique set of extensive experimental tests, using simulated as well as actual GNSS data and using receivers of different manufacturers and type as well as different platforms. The executed field tests cover two static land experiments, one in the Netherlands and one in Australia, and two dynamic experiments, a low-dynamics vessel experiment and high-dynamics aircraft experiment. In our analyses, we focus on stand-alone, unaided, single-frequency, singleepoch attitude determination, as this is the most challenging case of GNSS compass processing.

Direct geo-referencing of a static terrestrial laser scanner

“…This is comparable to the GNSS compass approach, e.g. given in Teunissen et al (2010). Within the filter algorithm there is no combination step necessary.…”

“…The last is known in literature as GNSS compass; e.g. see Teunissen et al (2010). Nevertheless, if one or two GNSS antennae are used, the trajectory of an antenna reference point (ARP) is a space curve which is described by the circular motion of the laser scanner about its vertical axis.…”

Attitude Determination Algorithms through Accelerometers, GNSS Sensors, and Gravity Vector Estimator

“…This method is currently the best performing attitude determination method as was demonstrated in land, sea, and air experiments. Example publications describing such actual real-world GNSSattitude determination results can be found in [3][4][5][6]. The underlying theory and advanced algorithms for much of the above-referred integer-ambiguity-resolved carrier-phase GNSS attitude determination methods can be found in [7][8][9].…”

Study on reliable GNSS positioning with intense TEC fluctuations at high latitudes

“…The global navigation satellite system (GNSS) positioning is currently one of the fastest developing measurement techniques, having applications in daily life and scientific research, including wide usage in navigation and surveying (Teunissen et al 2011;Popielarczyk and Templin 2014). In most cases, which involve both real-time and post-processing applications, positions can be determined with subcentimeter accuracy in relative mode.…”