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On the Recursive Joint Position and Attitude Determination in Multi-Antenna GNSS Platforms

Medina, Daniel and Vilà-Valls, Jordi and Heßelbarth, Anja and Ziebold, Ralf and García, Jesús (2020) On the Recursive Joint Position and Attitude Determination in Multi-Antenna GNSS Platforms. Remote Sensing, 12. Multidisciplinary Digital Publishing Institute (MDPI). doi: 10.3390/rs12121955. ISSN 2072-4292.

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Official URL: https://www.mdpi.com/2072-4292/12/12/1955

Abstract

Global Navigation Satellite Systems' (GNSS) carrier phase observations are fundamental in the provision of precise navigation for modern applications in intelligent transport systems. Differential precise positioning requires the use of a base station nearby the vehicle location, while attitude determination requires the vehicle to be equipped with a setup of multiple GNSS antennas.} In the GNSS context, positioning and attitude determination have been traditionally tackled in a separate manner, thus losing valuable correlated information, and for the latter only in batch form. The main goal of this contribution is to shed some light on the recursive joint estimation of position and attitude in multi-antenna GNSS platforms. We propose a new formulation for the joint positioning and attitude (JPA) determination using quaternion rotations. A Bayesian recursive formulation for JPA is proposed, for which we derive a Kalman filter-like solution. To support the discussion and assess the performance of the new JPA, the proposed methodology is compared to standard approaches with actual data collected from a dynamic scenario under the influence of severe multipath effects.

Item URL in elib:https://elib.dlr.de/135394/
Document Type:Article
Title:On the Recursive Joint Position and Attitude Determination in Multi-Antenna GNSS Platforms
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Medina, DanielDaniel.AriasMedina (at) dlr.dehttps://orcid.org/0000-0002-1586-3269
Vilà-Valls, JordiJordi.VILA-VALLS (at) isae-supaero.frhttps://orcid.org/0000-0001-7858-4171
Heßelbarth, AnjaAnja.Hesselbarth (at) dlr.deUNSPECIFIED
Ziebold, RalfRalf.Ziebold (at) dlr.deUNSPECIFIED
García, Jesúsjgherrer (at) inf.uc3m.esUNSPECIFIED
Date:17 June 2020
Journal or Publication Title:Remote Sensing
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:12
DOI :10.3390/rs12121955
Editors:
EditorsEmailEditor's ORCID iD
Kovacevic, MilicaUNSPECIFIEDUNSPECIFIED
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
ISSN:2072-4292
Status:Published
Keywords:GNSS; RTK positioning; attitude determination; Kalman filtering; quaternion rotation
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 Jun 2020 10:04
Last Modified:24 Jun 2020 10:04

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