GNSS Tabanlı Yönelim Belirleme Sisteminin Tasarımı Ve Geliştirilmesi

Abstract

In the scope of this study, attitude determination using GNSS systems is discussed. The concept of attitude is defined together with transformations between coordinate systems to express the position of an aerial vehicle. Necessary information has been given about the GNSS receivers where we use the position outputs to determine the attitude and the working principles of the system are mentioned. Detailed information about the US-made NAVSTAR GPS, which is the most widely used GNSS system, is included. A number of methods for determining attitude by using position and carrier phase have been discovered and compared among methods. Within the scope of field studies, position measurements have been made which can be used as reference for different sized platforms. It has been used Ublox NEO M8T GNSS receiver with interface software is written in C language which run on Raspberry Pi Model 3B. Attitude results were calculated for different baselines using position measurements and the errors of the attitude outputs were evaluated. Attitude determination algorithms implemented in the MATLAB environment. In order to attitude determination using the GNSS systems, reference values for the typical attitude errors were derived.