Geometric descent algorithms for attitude determination using GPS
نویسندگان
چکیده
منابع مشابه
Geometric Descent Algorithms for Attitude Determination Using GPS
This paper describes a set of numerical optimization algorithms for solving the GPS based attitude determination problem We pose the problem as one of minimizing the function tr N Q W with respect to SO where N Q andW are given matrices The method of steepest descent and Newton s method are generalized to SO by taking advantage of its Lie group structure Analytic solutions to the line search pr...
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Thispaperdescribes a set ofnumericalgradient-basedoptimizationalgorithmsfor solvingtheGlobalPositioning System (GPS)-based attitude determination problem. We pose the problem as one of minimizing the function tr( H N H TQ ¡ 2 H W)with respect to the rotation matrix H , where N, Q, andW are given 3 £ 3 matrices, and tr( ¢ ) denotes thematrix trace. Both the method of steepest descent and Newton’...
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The vectorized algorithms for GPS based attitude determination can be equivalent to a two-level optimal estimation problem. In the first level estimation the GPS carrier phase measurements can be converted to the vector observations in a sense of least squares. The second level estimation is the Wahba’s problem which describes how the attitude matrix can be derived from the vector observations....
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Nowadays, navigation is an unavoidable fact in military and civil aerial transportations. The Global Positioning System (GPS) is commonly used for computing the orientation or attitude of a moving platform. The relative positions of the GPS antennas are computed using the GPS code and/or phase measurements. To achieve a precise attitude determination, Carrier phase observations of GPS requiring...
متن کاملAnalysis of Attitude Determination Methods Using GPS Carrier Phase Measurements
If three or more GPS antennas are mounted properly on a platform and differences of GPS signals measurements are collected simultaneously, the baselines vectors between antennas can be determined and the platform orientation defined by these vectors can be calculated. Thus, the prerequisite for attitude determination technique based on GPS is to calculate baselines between antennas to millimete...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 1999
ISSN: 1474-6670
DOI: 10.1016/s1474-6670(17)56360-0