GPS based attitude determination using embedded magnetometer calibration

This paper presents a method for GPS based orientation determination. The carrier phase GPS concept is used to achieve precise results. The typical problem of the integer ambiguity resolution is solved using additional magnetometer and accelerometer. For proper operation the magnetometer should be calibrated together with the moving vehicle. Two kinds of calibration methods are presented. The first can be used with aerial vehicles, the second with ground vehicles. The calibration methods are able to run online on embedded computers on the board of the vehicle. The calibration methods and the orientation determination are tested with real movements performed with a car and a sail-plane.