Intelligent Transportation Systems Institute, Center for Transportation Studies, University of Minnesota
This work describes the development and testing of GPS-based attitude and heading determination system (AHRS)
using single-frequency (L1) carrier phase differential GPS (CPDGPS). Vehicle's attitude can be uniquely
determined from two non-collinear relative position vectors, known as the baseline vectors. The accuracy of the
resulting attitude estimate depends on the accuracy of the baseline vector estimates and their respective magnitudes
(length). The shorter the baseline, the higher the vector accuracy required to give the same attitude accuracy that
can be obtained through longer baseline system. Issues such as ambiguity resolution and phase center variations are
discussed. Test result shows that single-frequency CPDGPS is still a challenge, mainly caused by the integer
ambiguity problem inherent to CPDGPS problem. A more feasible but less accurate method using a short baseline
is also discussed. Phase center calibration remains a challenge for this attitude determination system.
Gebre-Egziabher, Demoz; Lie, Fidelis Adhika Pradipta.
Analysis of GPS-based Real Time Attitude Determination System for ITS Application.
Intelligent Transportation Systems Institute, Center for Transportation Studies, University of Minnesota.
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