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On the Kalman Filtering Formulation for RTK Joint Positioning and Attitude Quaternion Determination

Medina, Daniel and Heßelbarth, Anja and Büscher, Rauno and Ziebold, Ralf and García, Jesús (2018) On the Kalman Filtering Formulation for RTK Joint Positioning and Attitude Quaternion Determination. In: On the Kalman Filtering Formulation for RTK Joint. IEEE/ION PLANS 2018, 23-26 Apr 2018, Monterey, California US.

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Abstract

Global Navigation Satellite Systems (GNSS) is the cornerstone for positioning and timing applications across land, sea and air. GNSS carrier phase observations can be used to determine the orientation of a vehicle when this is equipped with a setup of multiple GNSS antennas. Attitude Determination seeks to find the rotation between two coordinate frames. In this contribution, we propose a formulation for the joint estimation of the positioning and attitude using quaternion rotations. The estimation is expressed in the recursive Bayesian estimation framework as an Extended Kalman Filter, whose equations and Jacobians matrices are derived. We evaluate the Performance of the proposed methodology with actual data collected from a dynamic scenario under the influence of severe multipath effects.

Item URL in elib:https://elib.dlr.de/119912/
Document Type:Conference or Workshop Item (Lecture)
Title:On the Kalman Filtering Formulation for RTK Joint Positioning and Attitude Quaternion Determination
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Medina, DanielDaniel.AriasMedina (at) dlr.dehttps://orcid.org/0000-0002-1586-3269
Heßelbarth, Anjaanja.hesselbarth (at) dlr.deUNSPECIFIED
Büscher, RaunoRauno.Buescher (at) dlr.deUNSPECIFIED
Ziebold, Ralfralf.ziebold (at) dlr.deUNSPECIFIED
García, Jesúsjgherrer (at) inf.uc3m.esUNSPECIFIED
Date:2018
Journal or Publication Title:On the Kalman Filtering Formulation for RTK Joint
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Accepted
Keywords:Global Navigation Satellite Systems (GNSS); Attitude Determination; Extended Kalman Filter (EKF); Quaternion Rotation; Real Time Kinematics (RTK)
Event Title:IEEE/ION PLANS 2018
Event Location:Monterey, California US
Event Type:international Conference
Event Dates:23-26 Apr 2018
Organizer:IEEE/ION
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Project Navigation 4.0
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Medina, Daniel
Deposited On:09 May 2018 14:49
Last Modified:31 Jul 2019 20:17

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