Attitude measurement using a single GPS receiver with two closely-spaced antennas
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United States of America Patent
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Jun 22, 2004
Grant Date -
Nov 7, 2002
app pub date -
Oct 12, 2001
filing date -
Feb 28, 2001
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A system determines three-dimensional attitude of a moving platform using signals from two closely spaced Global Positioning System (GPS) antennas. The system includes three rate gyroscopes and three accelerometers rigidly mounted in a fixed relationship to the platform to aid in determining the attitude. The system applies signals from a first of the two GPS antennas to sufficient channels of a GPS receiver to support navigation. The system applies signals from a second of the two GPS antennas to the remaining receive channels, which are configured to support interferometry. The system optimally selects the navigation and interferometry channels to provide an interferometric heading solution. The system resolves the ambiguity normally associated with the interferometric heading solution by having the closely spaced GPS antennas and using interferometry to refine a coarse heading estimate from a GPS plus Inertial Measurement Unit (IMU) transfer alignment solution. The system achieves close sub-meter spacing of the two GPS antennas by merging many temporal interferometric measurements that result from an attitude memory provided by the IMU time-history solution.
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