A New Motion-Based Algorithm for GPS Attitude Integer Resolution

Abstract

Carrier-phase GPS techniques are capable of measuring positions with subcentimeter accuracy. With several antennae, carrier-phase GPS can be used to determine attitude. This paper presents a motion-based algorithm for resolving the integer ambiguities that is suitable for conditions of poor satellite visibility. In particular, this algorithm can use baselines with fewer than three common satellites visible. This algorithm was used very successfully in practice as the attitude sensor for an autonomous model helicopter and aircraft.