Skip to main content
SpringerLink
Log in

Improved pitch-constrained ambiguity function method for integer ambiguity resolution in BDS/MIMU-integrated attitude determination

  • Original Article
  • Published:
Journal of Geodesy Aims and scope Submit manuscript

Abstract

The initialization is a critical step in the BeiDou Navigation Satellite System and microelectromechanical inertial measurement unit (MIMU)-integrated attitude determination. One of the primary tasks in the initializing process is integer ambiguity resolution. The rapidity and reliability of integer ambiguity resolution play a particularly important role in kinematic attitude determination. However, the common ambiguity function method (AFM) is time consuming and unreliable due to searching over the entire yaw and pitch range. In view of the fact that MIMU can provide initial pitch by self-alignment with the three-axis accelerometers, we present a pitch-constrained AFM (PCAFM) for single-epoch and single-frequency integer ambiguity resolution. Although only pitch information is available, both pitch and yaw search spaces can be constrained in PCAFM. The pitch search space is constrained by the initial pitch from MIMU, and then the yaw search candidates are reduced by the constrained pitch range with the mathematical relationship between yaw and pitch in the DD carrier-phase observation equation. Experimental results demonstrate that the yaw and pitch search candidates of PCAFM are greatly decreased by 67.55% and 97.51%, respectively. Meanwhile, the success rate of integer ambiguity resolution is improved compared with the AFM.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9

Similar content being viewed by others

References

  • Caporali A, Dalla Torre A, Praticelli N (2003) Interferometric attitude and direction sensor using GPS carrier phase data. In: 7th Bilateral geodetic meeting Italy–Poland, Bressanone, Italy, pp 173–193

  • Cellmer S (2012) A graphic representation of the necessary condition for the MAFA method. IEEE Trans Geosci Remote Sens 50(2):482–488

    Article  Google Scholar 

  • Cellmer S, Wielgosz P, Rzepecka Z (2010) Modified ambiguity function approach for GPS carrier phase positioning. J Geod 84(4):267–275

    Article  Google Scholar 

  • Cellmer S, Nowel K, Kwasniak D (2017) The new search method in precise GNSS positioning. IEEE Trans Aerosp Electron Syst 54(1):404–415

    Article  Google Scholar 

  • Chen WT, Qin HL (2012) New method for single epoch, single frequency land vehicle attitude determination using low-end GPS receiver. GPS Solut 16(3):329–338

    Article  Google Scholar 

  • Chen WT, Sun XL (2016) Performance improvement of GPS single frequency, single epoch attitude determination with poor satellite visibility. Meas Sci Technol 27(7):075104

    Article  Google Scholar 

  • CNT-OEM-RM001 (2013) ComNav OEM card reference manual (version 1.2J). ComNav Technology Ltd., Shanghai

    Google Scholar 

  • Counselman CC, Gourebvitch SA (1981) Miniature interferometer terminals for earth surveying: ambiguity and multipath with the global positioning system. IEEE Trans Geosci Remote Sens 19(4):244–252

    Article  Google Scholar 

  • Eling C, Zeimetz P, Kuhlmann H (2013) Development of an instantaneous GNSS/MEMS attitude determination system. GPS Solut 17(1):129–138

    Article  Google Scholar 

  • Gong A, Zhao X, Pang C, Duan R, Wang Y (2015) GNSS single frequency single epoch reliable attitude determination method with baseline vector constraint. Sensors 15(12):30093–30103

    Article  Google Scholar 

  • Groves PD (2013) Principles of GNSS, inertial, and multisensor integrated navigation systems, 2nd edn. Artech House, Norwood

    Google Scholar 

  • Han SW, Rizos C (1996) Improving the computational efficiency of the ambiguity function algorithm. J Geod 70(6):330–341

    Article  Google Scholar 

  • Hide C, Pinchin J, Park D (2007) Development of a low cost multiple GPS antenna attitude system. In: ION GNSS 2007. Institute of Navigation, Fort Worth, Texas, USA, September 25–28, pp 88–95

  • Jin WR, Zhai CR, Wang LD, Zhang YH, Zhan XQ (2009) Ambiguity function method scheme for aircraft attitude sensor utilising GPS/GLONASS carrier phase measurement. Def Sci J 59(5):466–470

    Article  Google Scholar 

  • Juang JC, Huang GS (1997) Development of GPS-based attitude determination algorithms. IEEE Trans Aerosp Electron Syst 33(3):968–976

    Article  Google Scholar 

  • Kim D, Langley RB (2000) GPS ambiguity resolution and validation: methodologies, trends and issues. In: 7th GNSS workshop–international symposium on GPS/GNSS, Seoul, Korea, pp 213–221

  • Li Y, Efatmaneshnik M, Dempster AG (2012) Attitude determination by integration of MEMS inertial sensors and GPS for autonomous agriculture applications. GPS Solut 16(1):41–52

    Article  Google Scholar 

  • Lin D, Voon LK, Nagarajan N (2004) Real-time attitude determination for microsatellite by LAMBDA method combined with Kalman filtering. In: 22nd AIAA international communication satellite systems conference, Monterey, p 8

  • Park C, Teunissen PJG (2009) Integer least squares with quadratic equality constraints and its application to GNSS attitude determination systems. Int J Control Autom Syst 7(4):566–576

    Article  Google Scholar 

  • Remondi BW (1990) Pseudo-kinematic GPS results using the ambiguity function method. Navigation 38(1):17–35

    Article  Google Scholar 

  • Teunissen PJG (1995) The least-squares ambiguity decorrelation adjustment: a method for fast GPS integer ambiguity estimation. J Geod 70(1):65–82

    Article  Google Scholar 

  • Teunissen PJG (2010) Integer least-squares theory for the GNSS compass. J Geod 84(7):433–447

    Article  Google Scholar 

  • Teunissen PJG, Giorgi G, Buist PJ (2011) Testing of a new single-frequency GNSS carrier phase attitude determination method: land, ship and aircraft experiments. GPS Solut 15(1):15–28

    Article  Google Scholar 

  • Titterton DH, Weston JL (2004) Strapdown inertial navigation technology, 2nd edn. American Institute of Aeronautics and Astronautics, New York

    Book  Google Scholar 

  • Wang YQ, Zhan XQ, Zhang YH (2007) Improved ambiguity function method based on analytical resolution for GPS attitude determination. Meas Sci Technol 18(9):2985–2990

    Article  Google Scholar 

  • Wang B, Miao L, Wang S, Shen J (2009) A constrained LAMBDA method for GPS attitude determination. GPS Solut 13(2):97–107

    Article  Google Scholar 

  • Yang YD, Mao XC, Tian WF (2016a) A novel method for low-cost MIMU aiding GNSS attitude determination. Meas Sci Technol 27(7):075003

    Article  Google Scholar 

  • Yang YD, Mao XC, Tian WF (2016b) Rotation matrix method based on ambiguity function for GNSS attitude determination. Sensors 16(6):841–854

    Article  Google Scholar 

  • Zhang JY, Wu MP, Li T, Zhang KD (2015) Instantaneous and controllable integer ambiguity resolution: review and an alternative approach. J Geod 89(11):1089–1108

    Article  Google Scholar 

  • Zhang L, Hou YQ, Wu J (2016) A drift line bias estimator: ARMA-based filter or calibration method, and its application in BDS/GPS-based attitude determination. J Geod 90(12):1331–1343

    Article  Google Scholar 

  • Zhu J, Hu X, Zhang J, Li T, Wang J, Wu M (2014) The inertial attitude augmentation for ambiguity resolution in SF/SE–GPS attitude determination. Sensors 14(7):11395–11415

    Article  Google Scholar 

  • Zhu J, Li T, Wang J, Hu X, Wu M (2015) Rate-Gyro-integral constraint for ambiguity resolution in GNSS attitude determination applications. Sensors 13(6):7979–7999

    Article  Google Scholar 

Download references

Acknowledgements

This work is supported by National Natural Science Foundation of China (Grant No. 61601506).

Author information

Authors and Affiliations

  1. Information and Navigation College, Air Force Engineering University, Xi’an, 710077, People’s Republic of China

    Yong Wang, Xiubin Zhao, Chunlei Pang, Xiao Wang, Shaoshi Wu & Chuang Zhang

Authors
  1. Yong Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Xiubin Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Chunlei Pang
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Xiao Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Shaoshi Wu
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Chuang Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Chunlei Pang.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Wang, Y., Zhao, X., Pang, C. et al. Improved pitch-constrained ambiguity function method for integer ambiguity resolution in BDS/MIMU-integrated attitude determination. J Geod 93, 561–572 (2019). https://doi.org/10.1007/s00190-018-1182-7

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00190-018-1182-7

Keywords

Search

Navigation