Implementation of GPS-based twin antennas attitude determination system using TMS320C6713

GPS-based twin antennas real-time attitude determination system realized with TMS320C6713 is presented in this paper. The direct computation method used to estimate attitude parameter is introduced firstly. Then the position, velocity and float ambiguity are estimated using kalman filter, the integer ambiguity is resolved based on Z-transformation augmented FASF algorithm. In the end, the software flow chart and hardware block diagram of attitude determination system were presented. The experiment results show that yaw accuracy about 0.04 degrees and pitch accuracy about 0.1 degrees at the output rate of 10Hz can be achieved.