GNSS Single-Frequency, Single-Epoch Attitude Determination Method with Orthogonal Constraints

<div>Inclusion relations of search spaces <svg height="13.3154pt" id="M58" style="vertical-align:-4.679501pt" version="1.1" viewbox="-0.0498162 -8.6359 28.9904 13.3154" width="28.9904pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M719 146L691 147C666 77 657 72 612 72H528C572 125 688 224 688 364C688 546 558 665 384 665C212 665 77 541 77 361C77 221 188 124 239 72H150C110 72 97 80 73 147L46 146L63 0H307L314 18C284 71 178 203 178 360C178 529 256 631 383 631C509 631 588 523 588 363C588 197 485 67 453 18L458 0H701L719 146Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.841,3.132)"><path d="M606 650H137L129 618C217 609 221 609 203 518L129 129C115 46 106 40 26 32L18 0H300L307 32C210 40 203 45 218 129L249 305H358C454 305 455 296 457 219H491L531 425H497C465 353 463 350 366 350H259L300 569C306 605 310 611 346 611H444C522 611 535 598 541 578C550 557 553 519 552 485L588 489L606 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,15.44,3.132)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,18.698,3.132)"><path d="M701 633L695 650H264C230 650 223 653 209 675H184C176 622 160 547 140 473L173 471C198 528 219 557 232 573C254 600 272 612 384 612H566L24 18L33 0H597C617 34 651 142 661 179L629 194C598 133 574 92 545 69C510 41 440 40 342 40C274 40 209 42 163 46L701 633Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,25.032,3.132)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z"></path></g></svg> and <span class="nowrap"><svg height="13.3154pt" id="M59" style="vertical-align:-4.679501pt" version="1.1" viewbox="-0.0498162 -8.6359 36.9645 13.3154" width="36.9645pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M719 146L691 147C666 77 657 72 612 72H528C572 125 688 224 688 364C688 546 558 665 384 665C212 665 77 541 77 361C77 221 188 124 239 72H150C110 72 97 80 73 147L46 146L63 0H307L314 18C284 71 178 203 178 360C178 529 256 631 383 631C509 631 588 523 588 363C588 197 485 67 453 18L458 0H701L719 146Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.841,3.132)"><path d="M606 650H137L129 618C217 609 221 609 203 518L129 129C115 46 106 40 26 32L18 0H300L307 32C210 40 203 45 218 129L249 305H358C454 305 455 296 457 219H491L531 425H497C465 353 463 350 366 350H259L300 569C306 605 310 611 346 611H444C522 611 535 598 541 578C550 557 553 519 552 485L588 489L606 650Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,15.44,3.132)"><path d="M309 -142C211 -61 151 99 151 271S210 601 309 683L288 710C141 611 75 451 75 272V271C75 90 141 -72 288 -169L309 -142Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,18.698,3.132)"><path d="M701 633L695 650H264C230 650 223 653 209 675H184C176 622 160 547 140 473L173 471C198 528 219 557 232 573C254 600 272 612 384 612H566L24 18L33 0H597C617 34 651 142 661 179L629 194C598 133 574 92 545 69C510 41 440 40 342 40C274 40 209 42 163 46L701 633Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,25.032,3.132)"><path d="M98 134C72 134 46 117 46 90C46 73 55 65 60 64C95 55 124 32 124 -4C124 -42 95 -68 44 -89L57 -123C122 -104 194 -60 194 22C194 94 136 134 98 134Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,27.189,3.132)"><path d="M636 22C611 29 589 38 560 74C536 104 518 134 495 173L430 300C518 328 592 392 592 492C592 555 563 594 528 618C491 643 435 650 377 650H140L131 618C222 610 223 601 208 518L137 136C121 43 116 40 27 32L18 0H295L300 32C212 40 206 42 223 138L248 279H296C334 279 350 272 369 230C393 174 413 140 441 94C482 24 523 1 626 -8L636 22ZM497 480C497 422 468 374 417 343C387 324 353 315 304 315H255L298 556C303 583 309 598 319 603C331 610 348 613 367 613C448 613 497 573 497 480Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,32.976,3.132)"><path d="M283 271C283 451 220 610 70 710L48 683C146 603 207 443 207 271S149 -59 48 -142L70 -169C220 -67 283 90 283 271Z"></path></g></svg>.</span></div>

Mathematical Problems in Engineering

fig2

Figure 2

Figure 2: GNSS Single-Frequency, Single-Epoch Attitude Determination Method with Orthogonal Constraints 