A GPS attitude error model for Kalman filtering

Sea trial data from two attitude measuring GPS receivers has been analyzed, using high quality inertial attitude for reference. Since this type of GPS measurement could potentially provide rapid and precise attitude at a much lower cost than the inertial equipment normally used, it is of considerable interest. This paper provides some background on GPS attitude technology, presents the attitude errors observed during these sea trials and characterizes these errors as linear stochastic processes, suitable for use in a Kalman filter for sensor integration.<
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