Patent ID: 6424915
Filing Date: 2002-07-23
Classification: G01C,G01S

Abstract:
A system for determining the heading and/or attitude of a body, said system comprising:at least three antennas which receive radio waves from a plurality of position-fixing satellites with one of the antennas being used as a reference antenna, the antennas being fixed at different positions of the body; means for determining the relative positions of the other antennas with respect to the reference antenna by observing single differences of carrier phase or double differences of carrier phase between carrier phases of the radio waves and by calculating integer ambiguities of the phase differences to thereby determine the heading and/or attitude of the body; an IMU sensor installed on the body; means for obtaining attitude angles of the body based on an output of the IMU sensor; and means for determining the integer ambiguities based on the attitude angles obtained when the integer ambiguities are to be redetermined.