Carrier-phase multipath calibration in GPS-RTK machine-guidance applications

Differential carrier-phase GPS-based attitude determination represents an attractive alternative to expensive and complex inertial measurement units (IMUs) and attitude heading reference systems (AHRS), for aeronautical, marine and machine-guidance applications. Previous work in GPS-based attitude systems, using ultra-short baselines (less than a couple of metres) between three/four antennas, have been shown to provide high accuracies, most of the time to the sub-degree level in yaw, pitch and roll.