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Attitude determination is a popular application of Global NavigationSatellite Systems (GNSS). Many methods have been developed to solve theattitude determination problem with different performance offerings. We developa constrained wrapped least-squares (C-WLS) method for high-accuracy attitudedetermination. This approach is built on an optimization model that leveragesprior information related to the antenna array and the integer nature of thecarrier-phase ambiguities in an innovative way. The proposed approach adopts anefficient search strategy to estimate the vehicle's attitude parameters usingambiguous carrier-phase observations directly, without requiring priorcarrier-phase ambiguity fixing. The performance of the proposed method isevaluated via simulations and experimentally utilizing data collected usingmultiple GNSS receivers. The simulation and experimental results demonstrateexcellent performance, with the proposed method outperforming the ambiguityfunction method, the constrained LAMBDA and multivariate constrained LAMBDAmethods, three prominent attitude determination algorithms.

Constrained Wrapped Least Squares: A Tool for High Accuracy GNSS Attitude Determination