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.
|出版狀態||Published - 1997 十二月 1|
|事件||Proceedings of the 1997 National Meeting - Santa Monica, CA, USA|
持續時間: 1997 一月 14 → 1997 一月 16
|Other||Proceedings of the 1997 National Meeting|
|城市||Santa Monica, CA, USA|
|期間||97-01-14 → 97-01-16|
All Science Journal Classification (ASJC) codes