Upload
suzan-riley
View
220
Download
0
Tags:
Embed Size (px)
Citation preview
GPS Attitude Determination Under Antenna Array Geometry Deformation
Alexander Kozlov,
Alexey Nikulin, Andrei Golovan, Ali Cepe, Vladimir Chemodanov
RAST 2015Moscow State University, RussiaNavigation and Control lab.
Attitude determination using GPS
Attitude determination accuracy
Antenna array deformations undeforme
d state, no rotation
observable deformation
ambiguous deformation
Antenna array deformation types
Single baseline/multiple baselines are deformed
Constant/varying deformations
Stochastic/determined deformation model
Coordinated/arbitrary deformations (multiple baselines)
Math behind the scene Baseline deformations
S defines which directions are allowed for deformations
If no inertial measurement unit (IMU) is present, the quantitive effect of deformation on attitude determination is fully defined by S and antenna array geometry
If IMU measurements are available, the effect depends on S, and antenna array geometry, and gyro measurement quality and satellite motion
No IMU, 2 antennas
No IMU, 3 antennas
No IMU, 4+ antennas
GPS/IMU data fusion, 2 antennas
GPS/IMU data fusion, 3 antennas
GPS/IMU data fusion, 4 antennas
Summary Antenna array geometry deformations can be
observable or ambiguous in terms of attitude determination
If observable, without IMU geometry of antenna array and geometry of deformation both define the accuracy of attitude determination
IMU measurements allow some antenna array geometry deformations to become observable
With IMU, satellite motion is also significant