Maximum-likelihood attitude estimation using GPS signals

被引：15
|
作者：
Roncagliolo, P. A. [1 ]
Garcia, J. G.
Mercader, P. I.
Fuhrmann, D. R.
Muravchik, C. H.
机构：
[1] UNLP, Fac Ingn, LEICI, La Plata, Argentina
[2] Washington Univ, Dept Elect Engn, St Louis, MO 63130 USA
来源：
DIGITAL SIGNAL PROCESSING | 2007年 / 17卷 / 06期
关键词：
attitude measurement; maximum likelihood estimation; global positioning system; nonlinear optimization;
D O I：
10.1016/j.dsp.2006.09.001
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The maximum likelihood estimator (MILE) for a vehicle's attitude using signals received from GPS satellites is derived in this paper. A statistical model of the measured phase double-differences is developed to form the likelihood function. The attitude is represented by a rotation matrix, a member of the group of 3 x 3 special orthogonal matrices. A steepest descent-like maximization algorithm is derived, that guarantees that the estimates belong to this manifold. Experimental results illustrate the performance and the importance of considering the right correlation between measurements. (c) 2006 Elsevier Inc. All rights reserved.
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页码：1089 / 1100
页数：12
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