Alternative Algorithm for Determining the Attitude Parameters of a Moving Platform Using Multi-Antenna GNSS Sensors
Publication: Journal of Surveying Engineering
Volume 139, Issue 4
Abstract
This case study aims to demonstrate a multi-antenna Global Navigation Satellite System (GNSS) technique and quality evaluation approach that can be used to determine the attitude parameters for a moving platform. First, considering the highly dynamic behavior of a moving platform, a noniterative parameter determination approach was introduced. A rigorous error analysis approach was then established to give explicit indications on the obtained attitude parameters. Based on the numerical results from both simulated and real datasets, it has been illustrated that the proposed approach is capable of giving efficient and reliable attitude parameter estimates independently without the need for auxiliary information. Consequently, the multi-antenna GNSS system can serve as an immediate resolution for the attitude determination of moving platforms in modern day applications.
Get full access to this article
View all available purchase options and get full access to this article.
Acknowledgments
The authors thank the three anonymous reviewers for their constructive comments, which significantly improved the quality of the original manuscript. Funding support by the National Science Council in Taiwan (under Contracts No. NSC100-2221-E-002-217 and No. NSC101-2218-E-002-002) is also gratefully acknowledged.
References
Arun, K. S., Huang, T. S., and Blostein, S. D. (1987). “Least-squares fitting of two 3-D point sets.” IEEE Trans. PAMI-9(5), 698–700.
Awange, J. L., and Grafarend, E. W. (2005). Solving algebraic computational problems in geodesy and geoinformatics, Springer, Berlin.
Buist, P. J., Teunissen, P. J. G., Giorgi, G., and Verhagen, S. (2009). “Multiplatform instantaneous GNSS ambiguity resolution for triple- and quadruple-antenna configurations with constraints.” Int. J. Nav. Observ., Article ID No. 565426, 1–14.
Chen, W., Honglei, Q., and Li, S. (2012). “GPS-based single epoch attitude determination without prior knowledge of measurement precision.” J. Surv. Eng., 139(1), 34–46.
Christian, B., and Mortari, D. (2006). “MRAD: Modified Rodrigues vector attitude determination.” J. Astronaut. Sci., 54(3), 383–390.
Dai, L., Ling, K. V., Hu, G. R., and Nagarajan, N. (2004). “GPS-based attitude determination for microsatellite using three-antenna technology.” Proc., IEEE Aerospace Conf., Vol. 2, IEEE, New York, 1024–1029.
Flenniken, W. S., IV (2005). “Modeling inertial measurement units and analyzing the effect of their errors in navigation applications.” M.S. thesis, Auburn Univ., Auburn, AL.
Gebre-Egziabher, D., Hayward, R. C., and Powell, J. D. (1998). “A low-cost GPS/inertial attitude heading reference system (AHRS) for general aviation applications.” Proc., IEEE, Position Location and Navigation Symp., IEEE, New York, 518–525.
Giorgi, G., Teunissen, P. J. G., Verhagen, S., and Buist, P. J. (2010). “Testing a new multivariate GNSS carrier phase attitude determination method for remote sensing platforms.” Adv. Space Res., 46(2), 118–129.
Giorgi, G., Teunissen, P. J. G., Verhagen, S., and Buist, P. J. (2011). “Instantaneous ambiguity resolution in GNSS-based attitude determination applications: The MC-LAMBDA method.” J. Guid. Control Dyn., 35(1), 51–67.
Gomez-Gil, J., Alonso-Garcia, S., Gómez-Gil, F. J., and Stombaugh, T. (2011). “A simple method to improve autonomous GPS positioning for tractors.” Sensors, 11(6), 5630–5644.
Han, J. Y. (2010). “Non-iterative approach for solving the indirect problems of linear reference frame transformations.” J. Surv. Eng., 136(4), 150–156.
He, X. F., Yang, G., Ding, X. L., and Chen, Y. Q. (2004). “Development of GPS multi-antenna switch for deformation monitoring.” Proc., 2004 Int. Symp. on GNSS/GPS, Univ. of New South Wales, Sydney, Australia.
Lefsky, M. A., Cohen, W. B., Parker, G. G., and Harding, D. J. (2002). “LiDAR remote sensing for ecosystem studies.” Bioscience, 52(1), 19–30.
Leick, A. (2004). GPS satellite surveying, Wiley, New York.
Lu, G. (1995). “Development of a GPS multi-antenna system for attitude determination.” Ph.D. thesis, Univ. of Calgary, Calgary, Alberta, Canada.
Lu, G., Cannon, M. E., LaChapelle, G., and Kielland, P. (1993). “Attitude determination in a survey launch using multi-antenna GPS technologies.” Proc., National Technical Meeting, Institute of Navigation, Alexandria, VA, 251–260.
Mikhail, E. M., and Ackerman, F. (1976). Observation and least squares, IEP, New York.
Mikhail, E. M., Bethel, J. S., and McGlone, J. C. (2001). Introduction to modern photogrammetry, Wiley, New York.
Seward, D. W., Pace, C., and Agate, R. (2007). “Safe and effective navigation of autonomous robots in hazardous environments.” Auton. Robots, 22(3), 223–242.
Shuster, M. D. (2006). “The generalized Wahba problem.” J. Astronaut. Sci., 54(2), 245–249.
Skaloud, J., Cramer, M. K., and Schwarz, P. (1996). “Exterior orientation by direct measurement of camera position and attitude.” Arch. Photogram. Rem. Sens., 31(B3), 9–19.
Teunissen, P. J. G. (2007). “A general multivariate formulation of the multi-antenna GNSS attitude determination problem.” Artif. Satellites, 42(2), 97–111.
Wahba, G. (1965). “Problem 65-1: A least squares estimate of spacecraft attitude.” SIAM Rev., 7(3), 409.
Xuesong, S., Lu, M., and Chen, W. (2010). “Computing three-axis orientations of a tunnel-boring machine through surveying observation points.” J. Comput. Civ. Eng., 25(3), 232–241.
Yang, C., and Shuster, M. D. (2007). “Robustness and accuracy of the QUEST algorithm.” Adv. Astron. Sci., 127, 41–61.
Yao, J. L., Xu, Y. F., and Xiao, W. (2007). “Applications of Rodrigues matrix in 3D coordinate transformation.” Geo-Spatial. Inf. Sci., 10(3), 173–176.
Information & Authors
Information
Published In
Journal of Surveying Engineering
Volume 139 • Issue 4 • November 2013
Pages: 194 - 201
Copyright
© 2013 American Society of Civil Engineers.
History
Received: Aug 22, 2012
Accepted: Mar 22, 2013
Published online: Apr 1, 2013
Published in print: Nov 1, 2013
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.