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Integrity monitoring of high-accuracy GNSS-based attitude determination

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Abstract

Global navigation satellite system (GNSS)-based attitude determination has been widely used in the navigation fields. The reliability of attitude determination is indispensable for safety-critical applications. Since the multi-antenna-based attitude determination uses ultra-short baseline carrier phase double differential processing, the incorrect ambiguity resolution and the excessive measurement error are two main factors affecting the reliability of attitude determination. Since the ambiguity correctness validation cannot guarantee the reliability of the attitude solution, therefore an integrity monitoring method is proposed for the attitude determination in the measurement domain. The proposed integrity monitoring method constructs double test statistics to satisfy the requirements of integrity risk and continuity risk, simultaneously. Furthermore, the attitude alarm limit has been derived from the required navigation performance as the threshold to test the availability of attitude determination. The performance of the proposed method is tested by conducting the static and kinematic experiments, respectively. The static results have shown that the proposed integrity monitoring method is able to monitor the ambiguity fault and the excessive measurement noise. The real-world kinematic data have indicated that the proposed method can reduce the maximum attitude error by about 2.3°, when compared with the standalone ratio-test method.

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Acknowledgements

The authors appreciate the GNSS research group of Curtin University (Australia) for providing the static data and Dr. Yanqing Hou from Delft University of Technology (Netherlands) for providing the kinematic data. This research was jointly funded by the National Natural Science Foundation of China (Nos. 61773132, 61633008, 61374007, 61304235), the 7th Generation Ultra Deep Water Drilling Unit Innovation Project sponsored by Chinese Ministry of Industry and Information Technology, the Fundamental Research Funds for Central Universities (No. HEUCFP201768), and the Post-Doctoral Scientific Research Foundation, Heilongjiang Province (No. LBH-Q15033).

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Authors and Affiliations

  1. College of Automation, Harbin Engineering University, Harbin, 150001, China

    Na Li, Lin Zhao, Liang Li & Chun Jia

  2. Academy of Opto-electronics, Chinese Academy of Sciences, Beijing, 100094, China

    Liang Li

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  1. Na Li
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  2. Lin Zhao
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  3. Liang Li
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  4. Chun Jia
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Correspondence to Liang Li.

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Li, N., Zhao, L., Li, L. et al. Integrity monitoring of high-accuracy GNSS-based attitude determination. GPS Solut 22, 120 (2018). https://doi.org/10.1007/s10291-018-0787-x

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