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Robust Linearly Constrained Filtering for GNSS Position and Attitude Estimation under Antenna Baseline Mismatch

Chauchat, Paul and Medina, Daniel and Vilà-Valls, Jordi and Chaumette, Eric (2021) Robust Linearly Constrained Filtering for GNSS Position and Attitude Estimation under Antenna Baseline Mismatch. In: 24th IEEE International Conference on Information Fusion, FUSION 2021. 24th International Conference on Information Fusion, 2021-11-01 - 2021-11-04, Sun City, South Africa. doi: 10.23919/FUSION49465.2021.9626840. ISBN 9781737749714.

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Precise navigation solutions are fundamental for new intelligent transportation systems and robotics applications, where attitude also plays an important role. Among the different technologies available, Global Navigation Satellite Systems (GNSS) are the main source of positioning data. In the GNSS context, carrier phase observations are mandatory to obtain precise positioning, and multiple antenna setups must be considered for attitude determination. Position and attitude estimation have been traditionally tackled in a separate manner within the GNSS community, but a recently introduced recursive joint position and attitude (JPA) Kalman filter-like approach has shown the potential benefits of the joint estimation. One of the drawbacks of the original JPA is the assumption of perfect system knowledge, and in particular the baseline distance between antennas, which may not be the case in real-life applications and can lead to a severe performance degradation. The goal of this contribution is to propose a robust filtering approach able to mitigate the impact of a possible GNSS antenna baseline mismatch, exploiting the use of linear constraints. Illustrative results are provided to support the discussion and show the performance improvement, for both GNSS-based attitude-only and JPA estimation.

Item URL in elib:https://elib.dlr.de/146723/
Document Type:Conference or Workshop Item (Lecture)
Title:Robust Linearly Constrained Filtering for GNSS Position and Attitude Estimation under Antenna Baseline Mismatch
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Medina, DanielUNSPECIFIEDhttps://orcid.org/0000-0002-1586-3269UNSPECIFIED
Vilà-Valls, JordiUNSPECIFIEDhttps://orcid.org/0000-0001-7858-4171UNSPECIFIED
Chaumette, EricUNSPECIFIEDhttps://orcid.org/0000-0002-7029-3019UNSPECIFIED
Date:November 2021
Journal or Publication Title:24th IEEE International Conference on Information Fusion, FUSION 2021
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:GNSS, position and attitude estimation, robust filtering, model mismatch, linear constraints
Event Title:24th International Conference on Information Fusion
Event Location:Sun City, South Africa
Event Type:international Conference
Event Start Date:1 November 2021
Event End Date:4 November 2021
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Transport System
DLR - Research area:Transport
DLR - Program:V VS - Verkehrssystem
DLR - Research theme (Project):V - I4Port (old)
Location: Neustrelitz
Institutes and Institutions:Institute of Communication and Navigation > Nautical Systems
Deposited By: Medina, Daniel
Deposited On:08 Dec 2021 10:36
Last Modified:24 Apr 2024 20:45

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