A new filter design for low-cost GNSS attitude determination applications

This paper proposes a new filter design optimized for GNSS attitude determination applications using low cost devices. The filter contains all relevant constraints and observations, including double differenced carrier phase and code observations along with MEMS-IMU observations. Benefited from the unified treatment, the priori information is well used during the resolution of double differenced GNSS observables. Hence, the success rate of integer ambiguity resolution as well as attitude determination is improved. A set of experiments were conducted to evaluate the performance of the method, compared with the traditional method. This paper uses RTKLIB[1], an open source platform to provide the results of traditional method. The new filter is proved to be capable of improving the attitude determination accuracy and reliability. Apart from the validation, a proposal for future work is also attached in this paper.