Development of Attitude Constraints for Real-time Attitude Determination System using GPS carrier phase

Jang, Jae-Gyu;Kee, Chang-Don

  • Published : 2005.12.31


As one of validation tool for attitude determination system, we have used various constraints using priori information which is known through base vector set up. However these conventional constraints cannot guarantee validity in terms of final solutions such as Euler angle. So we suggest attitude boundary concept to verify the final attitude solution on the flying airplane, it is based on the combination of velocity based attitude estimation technique and ambiguity resolution. we can say it can check invalid solution effectively at just one epoch without repeatability test of resolved cycle ambiguity. In this paper we show that the suggested constraint can effectively reject incorrectly resolved cycle ambiguity the conventional constraints have missed.


Constraint;Validation;Attitude Boundary


  1. C.E. Cohen, Attitude Determination Using GPS. Ph.D. thesis, Stanford University, 1992
  2. C. Kee, J. Jang and Y. Sohn, Efficient Attitude Determination Using GPS Multiple Antennas - Geometrical Concept -, Transactions of the Japan Society for Aeronautical and Space Sciences, Vol. 47, No. 158, Feb., 2005
  3. E. Bryson, Jr., Control of Spacecraft and Aircraft, Princeton University Press
  4. R.A. Brown, Instantaneous GPS Attitude Determination, 1992 IEEE, 0-7803-0468-3/92
  5. R. Hatch, Instantaneous Ambiguity Resolution. Proceedings of lAG International Symposium N0.107 on Kinematic Systems in Geodesy, Surveying and Remote Sensing, Springer Verlag, New York, pp. 299-308
  6. Richard P. Kornfeld, The Impact of GPS Velocity Based Flight Control on Flight Instrument Architecture, Ph.D. thesis, Aeronautics and astronautics, Massachusetts Institute of Technology, June 1999
  7. S. Lee, T. Lee, S. Park and C. Kee, Flight Test Results of UAV Automatic Control Using a Single-Antenna GPS Receiver, AlAA GN&C Conference and Exhibit, 2003, AlAA-2003-5593