Combined least squares and Kalman approach in determination of attitude using carrier phase GPS/GLONASS observations

In this paper we try to find the easiest and universal way to combine measurements from any number of antennas fixed in an arbitrary spatial configuration. We propose a method in which not a single antenna is artificially picked out as a master antenna. So any failure on master antenna is not critical for the solution now if there is enough measurements on others. No common constellation required for more than two baselines at once. Then the ambiguity search is severely reduced by preliminary estimation using specially adapted optimal Kalman and least-squares techniques. Inertial measurement unit (IMU), if present, then allow us to optimally add an additional correction for attitude solution, even for the detection of outliers in measurements also. Especially note the case when the master object is rapidly spinning so the receiver instantly looses and restores satellite signal tracking. Vice versa, satellite attitude information can be successfully used for the correction of IMU.