Precise vehicle dynamic heading and pitch angle estimation using time-differenced measurements from a single GNSS antenna

The attitude information of ground vehicles, i.e., heading and pitch information, can be used for many transport applications. This information can be determined through various solutions of onboard sensors, including magnetic sensors, inertial sensors, GNSS equipment, and their combinations. In ord...

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Bibliographic Details
Published in:GPS solutions 2020-07, Vol.24 (3), Article 84
Main Authors: Sun, Rui, Cheng, Qi, Wang, Junhui
Format: Article
Language:English
Subjects:
Antennas
Atmospheric Sciences
Automotive Engineering
Earth and Environmental Science
Earth Sciences
Electrical Engineering
Geophysics/Geodesy
GPS Toolbox
Inertial sensing devices
Pitch (inclination)
Pitch estimation
Sensors
Space Exploration and Astronautics
Space Sciences (including Extraterrestrial Physics
Time measurement
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Summary:The attitude information of ground vehicles, i.e., heading and pitch information, can be used for many transport applications. This information can be determined through various solutions of onboard sensors, including magnetic sensors, inertial sensors, GNSS equipment, and their combinations. In order to find a cost-effective solution, we propose here a new toolbox named Vehicle Attitude Determination toolbox from the Intelligent Transportation And Geomatics group (iTAG_VAD) that determines vehicle dynamic heading and pitch using only one single-frequency GPS antenna, reducing costs while retaining an acceptable heading and pitch accuracy. In this toolbox, by using the constraints of the vehicle motion and road geometry, two variations in a time-differenced measurement model, i.e., Time-Differenced Carrier Phase (TDCP) and Time-Differenced Pseudorange (TDPR), are developed for heading and pitch determination. The results show that both proposed TDCP- and TDPR-based models are able to provide an accurate heading and pitch estimation with a root mean square error below the one-degree level, which is sufficient for many land-based applications. We describe the toolbox and its implementation in MATLAB in detail.
ISSN:1080-5370
1521-1886
DOI:10.1007/s10291-020-01000-2