A General Multivariate Formulation of the Multi-Antenna GNSS Attitude Determination Problem

Global Navigation Satellite System (GNSS) carrier phase ambiguity resolution is the key to high precision positioning, navigation and attitude determination. In this contribution we present a general formulation for the multi-antenna GNSS attitude determination problem. This multivariate formulation provides a general framework for solving various GNSS attitude determination problems. With the use of this formulation we show how the constrained integer least-squares carrier phase ambiguities and corresponding attitude matrix can be solved.