Medina, Daniel and Centrone, Vincenzo and Ziebold, Ralf and García, Jesús (2019) Attitude Determination via GNSS Carrier Phase and Inertial Aiding. In: Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019. ION GNSS+ 2019, 2019-09-16 - 2019-09-20, Miami, US. doi: 10.33012/2019.16963. ISBN 978-093640623-7. ISSN 0936-4062.
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Abstract
Attitude Determination (AD) constitutes an important navigation component for vehicles that require orientation information, such as spacecraft or ships. Global Navigation Satellite Systems (GNSS) enable resolving the orientation of a vehicle in a precise and absolute manner, by employing a setup of multiple GNSS antennas rigidly mounted onboard the tracked vehicle. To achieve high-precision attitude estimation based on GNSS, the use of carrier phase observations becomes indispensable, with the consequent added complexity of resolving the integer ambiguities. The use of inertial aiding has been extensively exploited for AD, since it enables tracking fast rotation variations and bridging short periods of GNSS outage. In this work, the fusion of inertial and GNSS information is exploited within the recursive Bayesian estimation framework, applying an Error State Kalman Filter (ESKF). Unlike common Kalman Filters, ESKF tracks the error or variations in the state estimate, posing meaningful advantages for AD. On the one hand, ESKF represents attitude using a minimal state representation, in form of rotation vector, avoiding attitude constraints and singularity risks on the covariance matrix estimates. On the other hand, second-order products on the derivation of the Jacobian matrices can be neglected, since the error-state operates always close to zero. This work details the procedure of recursively estimating the attitude based on the fusion of GNSS and inertial sensing. The GNSS attitude model is parametrized in terms of quaternion rotation, and the overall three-steps AD procedure (float estimation, ambiguity resolution and solution fixing) is presented. The method performance is assessed on a Monte Carlo simulation, where different noise levels, number of satellites and baseline lengths are tested. The results show that the inertial aiding, along with a constrained attitude model for the float estimation, significantly improve the performance of attitude determination compared to classical unaided baseline tracking.
Item URL in elib: | https://elib.dlr.de/129046/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
Title: | Attitude Determination via GNSS Carrier Phase and Inertial Aiding | ||||||||||||||||||||
Authors: |
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Date: | September 2019 | ||||||||||||||||||||
Journal or Publication Title: | Proceedings of the 32nd International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS+ 2019 | ||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||
DOI: | 10.33012/2019.16963 | ||||||||||||||||||||
ISSN: | 0936-4062 | ||||||||||||||||||||
ISBN: | 978-093640623-7 | ||||||||||||||||||||
Status: | Published | ||||||||||||||||||||
Keywords: | Attitude Determination, GNSS, Inertial Navigation, Error State Kalman Filter (ESKF) | ||||||||||||||||||||
Event Title: | ION GNSS+ 2019 | ||||||||||||||||||||
Event Location: | Miami, US | ||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||
Event Start Date: | 16 September 2019 | ||||||||||||||||||||
Event End Date: | 20 September 2019 | ||||||||||||||||||||
Organizer: | 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 (old) | ||||||||||||||||||||
Location: | Neustrelitz | ||||||||||||||||||||
Institutes and Institutions: | Institute of Communication and Navigation > Nautical Systems | ||||||||||||||||||||
Deposited By: | Medina, Daniel | ||||||||||||||||||||
Deposited On: | 24 Sep 2019 15:35 | ||||||||||||||||||||
Last Modified: | 24 Apr 2024 20:32 |
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