Title :
Tightly coupled precise point positioning and attitude determination
Author :
Henkel, Patrick S.
Author_Institution :
Inst. for Commun. & Navig., Tech. Univ. Munchen, Bavaria, Germany
Abstract :
A method is described for joint precise point positioning and attitude determination with tight coupling of two single-frequency low-cost global navigation satellite system receivers and an inertial sensor. The sensor fusion is performed with an extended Kalman filter. The carrier phase ambiguities are determined in a constrained tree search using soft a priori information on the antenna distance. A code multipath parameter is determined for each satellite to improve the accuracy. Ionospheric corrections are estimated also by single-frequency receivers.
Keywords :
Kalman filters; artificial satellites; attitude measurement; codes; inertial navigation; nonlinear filters; position measurement; satellite navigation; search problems; sensor fusion; trees (mathematics); Global Navigation Satellite system; antenna distance; attitude determination; carrier phase ambiguity; code multipath parameter; constrained tree search; extended Kalman filter; inertial sensor fusion; ionospheric correction estimation; single-frequency receiver; tightly coupled precise point positioning determination; Delays; Estimation; Position measurement; Receivers; Satellites; Synchronization;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
DOI :
10.1109/TAES.2015.140568
