An Improved Single-Epoch Attitude Determination Method for Low-Cost Single-Frequency GNSS Receivers

GNSS attitude determination has been widely used in various navigation and positioning applications, due to its advantages of low cost high efficiency. The modules the consumer market mostly use low-cost receivers face many problems such as large multipath effects, frequent cycle slips even loss locks. Ambiguity fixing is key will more challenges complex urban environment. Based on CLAMBDA algorithm, this paper proposes a CLAMBDA-search algorithm based multi-baseline model. This improves existing method through fixed geometry constraint among baselines vehicle coordinate system. A single-baseline solution reduces two degrees freedom rigid body, global minimization search for ambiguity objective function other degree conducted calculate baseline vector Euler angles. In addition, order make up shortcomings short environments, different validation strategies. Using three (ublox M8T) patch antennas, static dynamic on-board experiments with length set-ups were carried out environments. Both prove that proposed greatly improved performance also angle calculation accuracy, an acceptable burden. It practical vehicle-mounted algorithm.