Abstract: Determining vehicle orientation based on GNSS signals received by three antennas that are logically combined into two pairs, with one antenna common for both pairs. GNSS receiver measures first carrier phase difference within each pair of antennas, represented as sum of an integer number of periods of the carrier frequency and a fractional part of the period. The fractional parts are used to compute orientation of the vector connecting the antennas phase centers within each pair, excluding integer ambiguity resolution. Vehicle attitude is calculated from the orientation of two non-collinear vectors with a common origin, measured by two pairs of antennas. Each antenna has an RF front end. All RF front ends, heterodynes, digital navigation processors of this receiver are clocked from one common clock oscillator. All carrier phase measurements of the three antennas are performed on a common time scale.

Abstract: An algorithm for determining of a vehicle orientation based on a coherent processing of GNSS signals received by three spaced antennas and a special GNSS receiver for implementing this algorithm are considered. The three antennas are logically combined into two pairs, with one of the antennas becoming common for both pairs. The GNSS receiver measures the first carrier phase difference between the signals received within each pair of antennas. The first differences of the full phases are represented as the sum of an integer number of periods of the carrier frequency and the fractional part of the period. Values of the fractional parts of the first differences are used to compute the orientation of the vector connecting the antennas phase centers within each pair. The use of the fractional parts of the first differences makes it possible to exclude the integer ambiguity resolution in carrier phase measurements.

Abstract: Multichannel inertial measuring unit (MIMU) contains sensors for measurements of vector and scalar parameters of motion (angular speed, specific acceleration, magnetic field, etc.), and independent hardware interfaces to transmit measured data. Measured information is read out from MIMU via each hardware interface irrespective of other hardware interfaces. The format of data presentation for each hardware interface is randomly selected from a predefined list. Measurements from MIMU are generated by a set of sensors within a common timescale. The timescale for synchronization of sensor measurements can be both generated within MIMU by a stable clock generator and transmitted to MIMU from outside, including from one of users of measured data. MIMU also can generate synchronization signals to transmit its timescale to external users.

Abstract: Multichannel inertial measuring unit (MIMU) contains sensors for measurements of vector and scalar parameters of motion (angular speed, specific acceleration, magnetic field, etc.), and independent hardware interfaces to transmit measured data. Measured information is read out from MIMU via each hardware interface irrespective of other hardware interfaces. The format of data presentation for each hardware interface is randomly selected from a predefined list. Measurements from MIMU are generated by a set of sensors within a common timescale. The timescale for synchronization of sensor measurements can be both generated within MIMU by a stable clock generator and transmitted to MIMU from outside, including from one of users of measured data. MIMU also can generate synchronization signals to transmit its timescale to external users.