GPS attitude for a berthing guidance system.
|Authors:||Ueno, Mami; Santerre, Rock|
|Abstract:||This study was conducted on a ship's automatic berthing system where precise and real-time estimation of the state vector is required, e.g., heading ±0.05° for berthing of a 300 m ship. Rapid and reliable phase ambiguity resolution provides the ultimate accuracy for GPS attitude determination. The onboard GPS-based attitude system, consisting of an optimal 4-antenna configuration, has the capability of single-epoch ambiguity resolution and least-squares algorithms for attitude determination. The GPS results were compared with external sensors on board a hydrographic sounding ship. The RMS values of the difference of attitude angles between GPS and TSS/gyrocompass were: ±0.60° for heading, ±0.44° for roll and ±0.34° for pitch with GPS antenna separation of about 1.4 m. The new algorithms allow fast ambiguity resolution and would be suitable for real-time applications. As precision of attitude determination can be improved by extending baselines, a 5 m baseline configuration could satisfy the sensor requirements for berthing of a 300-m ship. The GPS-based attitude system has utilization potential for a berthing guidance system.|
|Document Type:||Article de recherche|
|Issue Date:||1 September 1999|
|Open Access Date:||22 November 2016|
|This document was published in:||Canadian aeronautics and space journal, Vol. 43 (3), 264-269 (1999)|
Canadian Aeronautics and Space Institute
|Collection:||Articles publiés dans des revues avec comité de lecture|
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