Maximum-likelihood attitude estimation using GPS signals

Authors:
P. A. Roncagliolo;J. G. García;P. I. Mercader;D. R. Fuhrmann;C. H. Muravchik
Affiliations:
Laboratorio de Electrónica Industrial, Control e Instrumentación (LEICI), Facultad de Ingeniería, UNLP, La Plata, Argentina;Laboratorio de Electrónica Industrial, Control e Instrumentación (LEICI), Facultad de Ingeniería, UNLP, La Plata, Argentina;Laboratorio de Electrónica Industrial, Control e Instrumentación (LEICI), Facultad de Ingeniería, UNLP, La Plata, Argentina;Department of Electrical Engineering, Washington University, St. Louis, MO, USA;Laboratorio de Electrónica Industrial, Control e Instrumentación (LEICI), Facultad de Ingeniería, UNLP, La Plata, Argentina
Venue:
Digital Signal Processing
Year:
2007

Citing 4
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Abstract

The maximum likelihood estimator (MLE) for a vehicle's attitude using signals received from GPS satellites is derived in this paper. A statistical model of the measured phase double-differences is developed to form the likelihood function. The attitude is represented by a rotation matrix, a member of the group of 3x3 special orthogonal matrices. A steepest descent-like maximization algorithm is derived, that guarantees that the estimates belong to this manifold. Experimental results illustrate the performance and the importance of considering the right correlation between measurements.