Yaw Angle Estimation of VTOL-UAVs with the Extended LAMBDA Method and Low Cost Receivers

摘要

This paper addresses the problem of yaw angle determination with two low-cost GPS-receivers and short base lines. Low-cost receivers and their antennas are very small and lightweight. They can be carried by small UAVs or MAVs for heading determination. Increased carrier phase noise and multipath levels require fast and reliable algorithms for carrier phase ambiguity resolution. A new extension to the LAMBDA search algorithm is proposed, that takes constraints of the base line length, the yaw and pitch angles into account. Thus the rapidness and reliability of the algorithm is improved.