Single-Antenna Attitude Determination Using GNSS for Low-Dynamic Carrier

Abstract

Single-antenna pseudo-attitude determination method has the advantages of low cost and low space requirement, thus has got more and more attention by the field of high dynamic navigation. However, researches on its application to low-dynamic carriers have not been carried out. This paper discusses the feasibility of the pseudo-attitude determination method in low-dynamic application. Three kinds of errors of this method are summarized, and correction methods are also put forward. Vehicle experiment suggest that if we adopt reasonable threshold to mitigate the measurement error, and simultaneously use sudden change detection to eliminate the offset error, the GNSS single-antenna pseudo-attitude determination method can be used to measure the attitude of low speed carriers at m/s level. The standard deviation of the pseudo-azimuth angles is 3.7°, and that of the pseudo-pitch angle is 1.4°. This method has great practical significance for small carriers, which cannot accommodate multiple antennas. In addition, for the existing single-antenna carriers, this method can provide reliable attitude information without adding any equipment or making any device modifications, thus is of great application value and economic benefits.