Real-time attitude determination using the global positioning system

The GPS attitude determination problem is investigated in this dissertation with two objectives. One is to develop an integer ambiguity resolution algorithm that is computationally efficient and adequate for real-time applications. The other is to investigate the advantages and disadvantages of using alternative nonlinear filters over using the conventional Extended Kalman Filter.; The analytical GPS measurement noise models are obtained and used for two solution methods to the GPS attitude determination problem, the static solution method and the filtering method. A novel approach to the static solution method results in the development of a set of new parameters referred to as the Dilution of Precision for Euler Angles. Three alternative filtering algorithms, the Modified Second-Order Filter, the Iterated Linear Filter Smoother and the Unscented Filter are described, and the performance of the Unscented Filter for the GPS attitude determination is compared against that of the Extended Kalman Filter. The GPS signal received by the GPS receiver antennas placed on a platform on the surface of the Earth are simulated and used to examine the validity of the algorithms developed in this dissertation.; The two main objectives of this dissertation were met. The integer ambiguity resolution algorithm developed in this dissertation is adequate for real-time applications in that the algorithm requires minimal computational effort at each epoch as opposed to other algorithms which require significant computational effort in the initial epochs. Some problematic cases that arise when the Extended Kalman Filter is applied to the GPS attitude determination problem were identified, and the Unscented Filter appears to be a promising alternative for real-time applications.