ИСТИНА

The reliability and accuracy of GPS attitude determination are still the main relevant theoretical questions. While the first one derives from the probabilistic nature of phase ambiguity resolution algorithms and effectiveness of multipath reduction, the second is additionally affected by geometric properties of GNSS antenna configuration. Being trivial in two-antenna system, the relation between GPS attitude determination accuracy and antenna spatial layout becomes much less intuitive for multi-antenna configurations, and seems to have been examined analytically in some specific cases only. For example, most of research papers in the field use Euler angles as attitude representation, which have singularity in some cases. Also, they consider the number of antennas of not more than four. We present some further investigation in this area. In our study we obtain a polynomial representation for the relation between attitude determination accuracy factors, i.e. the singular values of some certain measurement matrix, and antenna baseline vector coordinates. An examination of several specific cases show that our representation can be used to determine the optimal antenna configuration under conventional geometry limitations.