Dai, Zhen: On GPS based attitude determinationGPS-basierte Lagebestimmung. 2013
Inhalt
- Acknowledgments
- Kurzfassung
- Abstract
- Table of Contents
- List of Figures
- List of Tables
- Abbrevations
- 1. Introduction
- 2. GPS data pre-processing
- 2.1 Overview of ambiguity resolution approaches
- 2.2 Overview of cycle-slip detection and repair
- 2.3 Cycle-slip detection for triple-frequency GPS
- 2.4 Cycle-slip validation for triple-frequency GPS
- 2.5 Cycle-slip determination for triple-frequency GPS
- 2.6 Flowchart of cycle-slip handling for triple-frequency GPS
- 2.7 Test of cycle-slip detection and repair approaches usingsynthetic data
- 2.8 Conclusions
- 3. Attitude determination using GPS
- 3.1 Introduction to GPS multi-antenna systems
- 3.2 Coordinate frames
- 3.3 Theoretical background for attitude determination
- 3.4 Attitude representation
- 3.5 Attitude determination based on Euler angles
- 3.6 A toolbox for GPS-based attitude determination
- 3.7 Experimental results
- 3.8 Conclusions
- 4. GPS based attitude determination usingKalman filters and a constant angular ratemodel
- 4.1 Fundamentals of nonlinear Kalman filtering
- 4.2 Constant angular rate model
- 4.3 An extended Kalman filter for dynamic attitudedetermination
- 4.4 Other Kalman filters for nonlinear systems
- 4.5 Simulations with different nonlinear Kalman filters
- 4.6 Conclusions
- 5. Approaches to overcome the limitations of theintroduced dynamic model
- 5.1 Problem description
- 5.2 Reducing model transition errors using different nonlinearKalman filters
- 5.3 Solutions to the model transition errors
- 5.4 Fading-memory extended Kalman filter
- 5.5 Adaptive tuning of process noise
- 5.6 Interacting multiple model approach
- 5.7 Adaptive interacting multiple model approach
- 5.8 Computational complexity
- 5.9 Conclusions
- 6. Error analysis for position, attitude and SARrelated parameters
- 6.1 Error propagation in position and attitude domain
- 6.2 Error analysis for attitude determination
- 6.3 SAR motion compensation using GPS
- 6.4 Factors affecting the position and attitude accuracies
- 6.5 Simulation
- 6.6 Conclusions
- Concluding remarks and future work
- Appendix I: Dilution of precision for single-point positioning
- Appendix II: Jacobian matrix for three-dimensional Euler angles
- Appendix III: Jacobian matrix for a dual-antenna configuration
- Appendix IV: Error of local level frame coordinate due to thepositioning error of the origin
- Appendix V: Hessian matrix for SOEKF
- Bibliography