this paper presents quaternion algorithm to determine heading and attitude using gps carrier phase double difference measurements, assuming that the integer ambiguities are known.
同时还对航姿误差进行了分析,并在误差分析的基础上给出了基线的最优配置。
the azimuth can be determined by fixing two gps in a certain distance along the longitudinal vector and making a carrier phase double difference between them.