INS and magnetic sensor aided carrier phase differential GPS for attitude determination

摘要

This paper presents a fast and reliable method for precise orientation (attitude) determination for a moving vehicle. The method uses the carrier phase measurements of GPS receivers. To solve the so called integer ambiguity problem the additional accelerometer and magnetometer is used. These sensors should be calibrated, the calibration method is also presented. The attitude determination method is tested in real circumstances, during a real flight with a sailplane. Based on the results further corrections are initiated which results more precise measurements.