title: The inertial attitude augmentation for ambiguity resolution in SF/SE-GNSS attitude determination.
abstract: The Unaided Single Frequency/Single Epoch Global Navigation Satellite System (SF/SE GNSS) model is the most challenging scenario for ambiguity resolution in the GNSS attitude determination application. To improve the performance of SF/SE-GNSS ambiguity resolution without excessive cost, the Micro-Electro-Mechanical System Inertial Measurement Unit (MEMS-IMU) is a proper choice for the auxiliary sensor that carries out the inertial attitude augmentation. Firstly, based on the SF/SE-GNSS compass model, the Inertial Derived Baseline Vector (IDBV) is defined to connect the MEMS-IMU attitude measurement with the SF/SE-GNSS ambiguity search space, and the mechanism of inertial attitude augmentation is revealed from the perspective of geometry. Then, through the quantitative description of model strength by Ambiguity Dilution of Precision (ADOP), two ADOPs are specified for the unaided SF/SE-GNSS compass model and its inertial attitude augmentation counterparts, respectively, and a sufficient condition is proposed for augmenting the SF/SE-GNSS model strength with inertial attitude measurement. Finally, in the framework of an integer aperture estimator with fixed failure rate, the performance of SF/SE-GNSS ambiguity resolution with inertial attitude augmentation is analyzed when the model strength is varying from strong to weak. The simulation results show that, in the SF/SE-GNSS attitude determination application, MEMS-IMU can satisfy the requirements of ambiguity resolution with inertial attitude augmentation.
authors: Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Deya Street 109, Changsha 410073, Hunan, China. zhujiancheng2012@126.com.
authors: Jiancheng
authors: J
authors: Zhu
authors: Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Deya Street 109, Changsha 410073, Hunan, China. Xphu@nudt.edu.cn.
authors: Xiaoping
authors: X
authors: Hu
authors: Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Deya Street 109, Changsha 410073, Hunan, China. zhujiancheng2012@126.com.
authors: Jingyu
authors: J
authors: Zhang
authors: Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Deya Street 109, Changsha 410073, Hunan, China. litao_nudt@yahoo.com.cn.
authors: Tao
authors: T
authors: Li
authors: School of Civil and Environmental Engineering, University of New South Wales, Sydney, NSW 2052, Australia. Jinling.Wang@unsw.edu.au.
authors: Jinling
authors: J
authors: Wang
authors: Department of Automatic Control, College of Mechatronics and Automation, National University of Defense Technology, Deya Street 109, Changsha 410073, Hunan, China. meipingwu@263.net.
authors: Meiping
authors: M
authors: Wu