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Journal of Applied Mathematics
Volume 2014, Article ID 548083, 6 pages
Research Article

A Direct Attitude Determination Approach Based on GPS Double-Difference Carrier Phase Measurements

1Marine Navigation Research Institute, College of Automation, Harbin Engineering University, Harbin 150001, China
2LASSENA Laboratory, Ecole de Technologie Superieure, 1100 Notre-Dame Street West, Montreal, QC, Canada H3C 1K3
3Beihang Univesity, Beijing 100191, China

Received 26 November 2013; Accepted 18 February 2014; Published 25 March 2014

Academic Editor: Zheping Yan

Copyright © 2014 Jianhua Cheng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The principle of the traditional attitude solution approach based on GPS (Global Position System) is to get the attitude matrix according to the relationship of coordinates. During the progress, the error of baseline position assumed in ECEF (Earth-Centered Earth-Fixed) and the error of coordinate transform between body frame and reference frame (ENU, East-North-Up) have been included in the result, and finally the precision of attitude determination is reduced. This contribution presents a new approach of attitude determination, in which the attitude angles are calculated by the double-difference carrier phase equation of GPS according to the relationship of attitude matrix and attitude angles through least-squares estimate method. The new approach predigests the procedure of attitude determination which reduces the error assumed. According to the analysis the precision of attitude determination is higher than that of traditional method. It is shown it gets a precise attitude result with the direct attitude determination method in the simulation. A novel algorithm is proposed to solve some problems. Simulation results show the effectiveness of the proposed algorithm.