{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,13]],"date-time":"2026-02-13T06:07:10Z","timestamp":1770962830053,"version":"3.50.1"},"reference-count":30,"publisher":"MDPI AG","issue":"14","license":[{"start":{"date-parts":[[2021,7,9]],"date-time":"2021-07-09T00:00:00Z","timestamp":1625788800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["41774017"],"award-info":[{"award-number":["41774017"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"National Key Research Program of China Collaborative Precision Positioning Project","award":["2016YFB0501900"],"award-info":[{"award-number":["2016YFB0501900"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>GNSS-only attitude determination is difficult to perform well in poor-satellite-tracking environments such as urban areas with high and dense buildings or trees. In addition, it is harder to resolve integer ambiguity in the case of single-frequency single-epoch process mode. In this contribution, a low-cost MEMS gyroscope is integrated with multi-antenna GNSS to improve the performance of the attitude determination. A new tightly coupled (TC) model is proposed, which uses a single filter to achieve the optimal estimation of attitude drift, gyro biases and ambiguities. In addition, a MEMS-Attitude-aided Quality-Control method (MAQC) for GNSS observations is designed to eliminate both the carrier multipath errors and half-cycle slips disturbing ambiguity resolution. Vehicle experiments show that in GNSS-friendly scenarios, the Ambiguity Resolution (AR) success rate of the proposed model with MAQC can reach 100%, and the accuracy of attitudes are (0.12, 0.2, 0.2) degrees for heading, pitch and roll angles, respectively. Even in harsh scenarios, the AR success rate increases from about 67% for the GNSS only case to above 90% after coupling GNSS tightly with MEMS, and it is further improved to about 98% with MAQC. Meanwhile, the accuracy and continuity of attitude determination are effectively guaranteed.<\/jats:p>","DOI":"10.3390\/rs13142710","type":"journal-article","created":{"date-parts":[[2021,7,9]],"date-time":"2021-07-09T10:50:38Z","timestamp":1625827838000},"page":"2710","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Research on Tightly Coupled Multi-Antenna GNSS\/MEMS Single-Frequency Single-Epoch Attitude Determination in Urban Environment"],"prefix":"10.3390","volume":"13","author":[{"given":"Ming","family":"Gao","sequence":"first","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China"},{"name":"College of Earth and Planetary Sciences, University of Chinese Academy of Sciences, Beijing 100049, China"}]},{"given":"Genyou","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China"}]},{"given":"Shengliang","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China"},{"name":"College of Earth and Planetary Sciences, University of Chinese Academy of Sciences, Beijing 100049, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2118-6196","authenticated-orcid":false,"given":"Gongwei","family":"Xiao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China"},{"name":"College of Earth and Planetary Sciences, University of Chinese Academy of Sciences, Beijing 100049, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2798-7186","authenticated-orcid":false,"given":"Wenhao","family":"Zhao","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China"},{"name":"College of Earth and Planetary Sciences, University of Chinese Academy of Sciences, Beijing 100049, China"}]},{"given":"Dong","family":"Lv","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Geodesy and Earth\u2019s Dynamics, Innovation Academy for Precision Measurement Science and Technology, Chinese Academy of Sciences, Wuhan 430077, China"},{"name":"College of Earth and Planetary Sciences, University of Chinese Academy of Sciences, Beijing 100049, China"}]}],"member":"1968","published-online":{"date-parts":[[2021,7,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"433","DOI":"10.1007\/s00190-010-0380-8","article-title":"Integer least-squares theory for the GNSS compass","volume":"84","author":"Teunissen","year":"2010","journal-title":"J. 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