Multivariate GNSS Attitude Integrity: The Role of Affine Constraints
In this work we analyze the integrity properties of an affine-constrained estimator applied to arrays of GNSS antennas. GNSS pseudorange and carrier phase measurements from multiple antennas whose relative positions are known are cast in a linearly-constrained observation model. The linear constraints are inherent to an affine transformation that is applied to the baseline coordinates. The affine transformation yields enhanced redundancy, thus improving the model integrity properties with respect to the unconstrained model. The extent of the improvement is measured in terms of internal and external reliability.
KeywordsAffine constrained attitude model Attitude determination Galileo GNSS GPS ILS MDB Multivariate ILS Reliability
The research of Peter J.G. Teunissen has been supported by an Australian Research Council Federation Fellowship (project number FF0883188).
- Baarda W (1968) A testing procedure for use in geodetic networks. Netherlands Geodetic Commission Publications on Geodesy, vol. 2, issue 5, 97 pGoogle Scholar
- Cohen CE (1992) Attitude determination using GPS. Ph.D. Thesis, Stanford University, Palo Alto, CAGoogle Scholar
- Giorgi G (2011) GNSS carrier phase-based attitude determination. Estimation and applications. Delft University of TechnologyGoogle Scholar
- Giorgi G, Teunissen PJG, Verhagen S, Buist PJ (2012) Integer ambiguity resolution with nonlinear geometrical constraints. IAG Symp 137:39–45Google Scholar
- Shuster MD (1993) A survey of attitude representations. J Astronaut Sci 41(4):439–517Google Scholar
- Strang G, Borre K (1997) Linear algebra, geodesy, and GP. Wellesley-Cambridge Press, WelleseleyGoogle Scholar
- Teunissen PJG (1993) Least squares estimation of the integer GPS ambiguities. Invited lecture, Section IV theory and methodology, IAG general meeting, Beijing also in: LGR series No 6, Delft Geodetic Computing Center, Delft University of TechnologyGoogle Scholar
- Teunissen PJG (2006) Testing theory: an introduction. Series on mathematical geodesy and positioning, 2nd edn. Delft Academic Press, OrlandoGoogle Scholar