Application of Kalman filter in GPS-based attitude determination

Jyh Ching Juang, Guo Shing Huang

Research output: Contribution to conferencePaperpeer-review


In this paper, several issues in applying nonlinear Kalman filter to GPS-based attitude determination are addressed. The governing equation that characterizes the attitude information and GPS measurements is developed. A nonlinear Kalman filter is then formulated to estimate attitude, integer ambiguity, and other relevant parameters. To account for the integer constraints and over-parametrization on the attitude, several schemes are proposed to augment standard Kalman filter iterations. An experiment using a rotating mechanism to emulate a spin-stabilized satellite and two carrier phase GPS receivers to provide measurement data is conducted in this work to assess the feasibility of the proposed algorithm.

Original languageEnglish
Number of pages5
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 National Meeting - Santa Monica, CA, USA
Duration: 1997 Jan 141997 Jan 16


OtherProceedings of the 1997 National Meeting
CitySanta Monica, CA, USA

All Science Journal Classification (ASJC) codes

  • Engineering(all)


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