Cascaded heading estimation with phase coasting

In this paper, a cascaded heading estimation is proposed for low cost single-frequency GPS receivers and patch antennas. The method performs a kinematic calibration of double difference carrier phase measurements, and a subsequent phase coasting without the need of ambiguity resolution. The algorithm was successfully tested on a car, where it enabled a heading accuracy of 0.2 degrees, which corresponds to a relative positioning accuracy of 5 mm.