Inertial sensors and magnetometers are often used for attitude determination of moving platforms. This thesis treats an alternative method; GPS-based attitude determination. By using several GPS-antennas, and with carrier phase measurements determining the relative distance between them, the attitude can be calculated. Algorithms have been implemented in Matlab and tested on real data. Two commercial GPS-based attitude determination systems have also been tested on a mobile platform and compared to a navigation grade Inertial Navigation System (INS). The results from the tests show that GPS-based attitude determination works well in open areas, but would require support from additional sensors in urban and forest environments.
| Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-11029 |
| Date | January 2007 |
| Creators | Bejeryd, Johan |
| Publisher | Linköpings universitet, Institutionen för systemteknik, Institutionen för systemteknik |
| Source Sets | DiVA Archive at Upsalla University |
| Language | English |
| Detected Language | English |
| Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
| Format | application/pdf |
| Rights | info:eu-repo/semantics/openAccess |
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