Engineering Realization of Full Attitude System Based On GPS Carrier Phase and MEMS IMU

This paper describes the design and realization of full attitude system based on MEMS IMU and GPS carrier phase. The work can be divided into two parts: First, initial heading is determined by using two GPS receivers. And this paper discusses the usage of space geometry conditions to reduce the range of ambiguity search. The method presented in this paper was tested on the static. On the static condition, an accuracy better than 0.06 degrees for heading for 3.48m long baseline has been achieved. Integration of GPS and low cost MEMS IMU are used to realize the real-time heading attitude system. Second, level attitude (pitch and roll) is determined using the method of frequency-velocity for the feedback control. At the same time, the method using the attitude based on MEMS IMU to help determination of the range of ambiguity search is proposed. The results done on the sea show that an alternative means to provide real-time, cost-effective, accurate and reliable attitude information for attitude surveys. Though motivated by a big ships application, the design can be applied to other vehicles.