NDLI: GNSS attitude estimation based on adaptive Kalman filtering using phase measurement

Content Provider	IET Digital Library
Author	Zhang, Siyu Chang, Guobin Chen, Chao Zhang, Laihong Zhu, Ting
Abstract	Attitude estimation using multi-antenna Global Navigation Satellite System (GNSS) has caught broad attention in recent years. The methods of indirectly calculating attitude parameters based on baseline vectors have been widely used. However, the accuracy of such methods needs to be further improved. An algorithm of directly estimating attitude parameters based on adaptive Kalman filtering (AKF) is proposed. The high-precision phase measurements are used and the system noise covariance matrix corresponding to Euler angles and angle rates is adaptively adjusted according to the maximum a posteriori estimation principle. To decrease the linearisation errors and speed the filtering convergence, a switching strategy is implemented. Namely, when the number of fixed ambiguities is equal to or more than three, the authors deem that the attitude estimate is sufficiently accurate, hence the initial state vector is constructed to start filtering. Otherwise, the attitude parameters are indirectly obtained. The static and simulation experiments are carried out. A comparative study is implemented with the two methods of indirectly calculating attitude parameters. The static and simulation results demonstrate that the proposed method has a competent performance in both accuracy and fixing success rate. The simulation results also show that the adaptability of the AKF method is nice.
Starting Page	747
Ending Page	754
Page Count	8
ISSN	17518784
Volume Number	14
e-ISSN	17518792
Issue Number	Issue 5, May (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-rsn/14/5
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2019.0439
Journal	IET Radar, Sonar & Navigation
Publisher Date	2020-02-03
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Adaptive Kalman Filter Adaptive Kalman Filtering AKF Method Algebra Attitude Estimation Attitude Measurement Baseline Vector Covariance Matrices Electrical Instruments And Technique Euler Angles Fixing Success Rate GNSS Attitude Estimation Graph Theory High-precision Phase Measurement Indirectly Attitude Parameter Calculation Initial State Vector Maximum A Posteriori Estimation Principle Maximum Likelihood Estimation Multiantenna Global Navigation Satellite System Phase And Gain Measurement Phase Measurement Probability Theory Radio Navigation And Direction Finding Satellite Navigation Set Theory Spatial Variables Measurement Statistics Stochastic Linearised SCUC System Noise Covariance Matrix Vector
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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