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Analysis of GPS-based Real Time Attitude Determination System for ITS Application
Gebre-Egziabher, Demoz; Lie, Fidelis Adhika Pradipta (Intelligent Transportation Systems Institute, Center for Transportation Studies, University of Minnesota, 2012)
 

Title 
Analysis of GPS-based Real Time Attitude Determination System for ITS Application

Issue Date
2012-11

Publisher
Intelligent Transportation Systems Institute, Center for Transportation Studies, University of Minnesota

Type
Report

Abstract
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.

Appears in Collection(s)

Series/Report Number
CTS
12-36

Suggested Citation
Gebre-Egziabher, Demoz; Lie, Fidelis Adhika Pradipta. (2012). Analysis of GPS-based Real Time Attitude Determination System for ITS Application. Intelligent Transportation Systems Institute, Center for Transportation Studies, University of Minnesota. Retrieved from the University of Minnesota Digital Conservancy, http://purl.umn.edu/140894.


Content distributed via the University of Minnesota's Digital Conservancy may be subject to additional license and use restrictions applied by the depositor.