Farkas, Márton and Rózsa, Szabolcs and Vanek, Bálint (2024) Multi‑sensor Attitude Estimation using Quaternion Constrained GNSS Ambiguity Resolution and Dynamics‑Based Observation Synchronization. ACTA GEODAETICA ET GEOPHYSICA, 59 (1). pp. 51-71. ISSN 2213-5812 10.1007/s40328-024-00441-2

Text Farkas_51_34832889_ny.pdf Download (3MB)

Abstract

Recently, high accuracy and low-cost navigation hardware is becoming increasingly available that can be efficiently used for the control of autonomous vehicles. We present a sensor fusion method providing tightly coupled integration of pseudorange, carrier phase, and Doppler satellite measurements taken at multiple vehicle-mounted GNSS antennas with onboard inertial sensor observations. The key of accurate GNSS position and orientation estimation is the successful integer ambiguity resolution. We propose a method that uses the quaternion states as constraints to improve ambiguity resolution and to increase the accuracy of the GNSS based attitude determination. Generally, the low-cost hardware neither allows a hardware-level time synchronization between the GNSS receivers due to a lack of a common external oscillator nor provides the clock steering function available in geodetic GNSS receivers. The lack of observation synchronization causes several degrees of error in attitude estimation. To eliminate this effect, a dynamics-based solution is presented that synchronizes the observations by taking the dynamics of the moving platform into account. Compared to common external oscillator based sensor setups, our solution allows to increase both the number of rover receivers on the platform and the baselines between them easily, thus it opens up new possibilities in the attitude determination of large vehicles. We validate our approach against a tactical grade inertial navigation system. The results show that our approach using low-cost sensors provides the ambiguity success rate of 100% for the moving baselines, and the positioning and attitude error reached the centimeter and half a degree level, respectively. © The Author(s) 2024.

Item Type:	Article
Uncontrolled Keywords:	DYNAMICS; SENSOR; error correction; SYNCHRONIZATION; global positioning system; vehicles; Hardware; measurement method; Costs; SATELLITE DATA; estimation method; ANTENNA; Tightly-coupled; Signal receivers; Sensor fusion; Sensor integration; Attitude estimation; Low-cost sensors; Air navigation; GNSS; GNSS; GNSS; Inertial Navigation Systems; iNs; iNs; Integer ambiguity resolution; Constrained integer ambiguity resolution; GNSS attitude estimation; Low-cost sensor integration; Tightly coupled sensor fusion; Constrained integer ambiguity resolution; GNSS attitude estimation; Low-cost sensor integration; Tightly coupled sensor fusion;
Subjects:	Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions:	Systems and Control Lab
SWORD Depositor:	MTMT Injector
Depositing User:	MTMT Injector
Date Deposited:	09 May 2024 07:04
Last Modified:	09 May 2024 07:04
URI:	https://eprints.sztaki.hu/id/eprint/10719

Update Item