| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2017: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2016: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2015: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Outline of Final Research Achievements |
We have developed new VPPP algorithms and attitude estimation algorithms (so-called; GNSS GYRO) using multiple low cost single frequency antennas based on GNSS Regression measurement models (GR models). By using the double differences for GNSS observables by multiple antennas with constraints of solid geometrical distances among antennas, we developed new Kalman filtering algorithms of all antennas' positions as well as the baseline vectors among antennas. Then using the geometric constraints for all antennas' positions, the updated algorithms of estimated antennas' positions and integer ambiguities by developing new Kalman filter based on the ambiguity resolution methods are derived. Experimental results by using real GNSS data for only ten seconds (10 epochs) from low-cost L1 receivers without using any external transmitted information show that less than 50cm RMS positioning errors and less than 0.2 degree errors of Euler's angles for the attitude estimation are acheived.
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