GPS-based attitude determination

Abstract: Inertial sensors and magnetometers are often used for attitude determination of moving platforms. This thesis treats an alternative method; GPS-based attitude determination. By using several GPS-antennas, and with carrier phase measurements determining the relative distance between them, the attitude can be calculated. Algorithms have been implemented in Matlab and tested on real data. Two commercial GPS-based attitude determination systems have also been tested on a mobile platform and compared to a navigation grade Inertial Navigation System (INS). The results from the tests show that GPS-based attitude determination works well in open areas, but would require support from additional sensors in urban and forest environments.