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Attitude Estimation Using GPS Carrier Phase Single Differences

This paper presents a system that implements single phase differentiation to estimate the attitude of a vehicle. To do so, it takes advantage of the special characteristics of an experimental multi-antenna GPS receiver with a common oscillator. As a result, the precision achieved in the final estimation of attitude is greater than the one obtained using double phase differentiation. To make this possible, an initial calibration process is needed. The algorithms developed process information offline but, after some necessary adjustments, could be implemented in real time. In addition to the analysis of the system, several tests were performed the results of which are also presented in this paper.