ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2018, Vol. 39 ›› Issue (6): 321850-321850.

• Electronics and Electrical Engineering and Control •

### A new multivariate constrained algorithm for GNSS single-epoch single-frequency attitude determination based on attitude domain

WU Hongtao, ZHAO Xiubin, PANG Chunlei, ZHANG Liang, FENG Bo

1. Information and Navigation College, Air Force Engineering University, Xi'an 710077, China
• Received:2017-11-07 Revised:2018-05-17 Online:2018-06-15 Published:2018-03-13
• Supported by:
National Natural Science Foundation of China (61601506)

Abstract: The model of Global Navigation Satellite System (GNSS) single-epoch single-frequency attitude determination can be strengthened with multiple antennae. However, the more antennae, the higher the dimension of ambiguity. If we still search ambiguity in the ambiguity domain, the efficiency of search will decrease significantly. To solve this problem, this paper proposes a multivariate constrained algorithm for GNSS single-epoch single-frequency attitude determination based on attitude domain. First, the prior information of pitch and roll is integrated into the search process to derive the search step-length of attitude angle, and the integer candidates is determined by traversal search in the three-dimension attitude domain. Then, the cost function is parameterized with the Euler angle, and non-iterative approximate estimation of optimal conditional attitude solution is utilized to simplify the iterative computation in calculating the cost function. Experimental results show good performance of our new method. By integrating prior information of pitch, the efficiency of search in the attitude domain is improved by 65.8%. Compared to the standard iteration algorithm, non-iterative approximate estimation of conditional attitude solution reduces the time consumption of calculating the cost function by 95.3%, and the method proposed has nearly equal performance to that of the standard iteration algorithm. By the new algorithm, GNSS full attitude determination can be realized with high success rate and reliability.

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