In this paper, the GPS carrier phase observables and the compass data are used together to find the attitude of the vehicle. By the quaternion representation of the attitude matrix, the QUEST (quaternion estimator) algorithm is adopted to find the optimal attitude. The QUEST method, however, processes a batch of measurements collected at one epoch. For considering the total measurements in all epochs, the REQUEST (recursive QUEST) algorithm is used to estimate the optimal attitude. To verify our algorithm, the static and the kinematic simulations have been conducted. The body frame is built by three GPS antennas with two aligned compasses. The static simulations are conducted first to compare the results computed by the QUEST method and the REQUEST algorithm. The kinematic simulations are also conducted to demonstrate the REQUEST algorithm.
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