Technique for determining relative yaw using phase windup

A GNSS receiver including

• A. an antenna for receiving a plurality of circularly polarized signals transmitted from at least one GNSS satellite,
• B. one or more processors for determining relative yaw, the processors—
• determining, at a time t1, a first difference d1 of a carrier phase measurement associated with a first circularly polarized signal received by the antenna from a transmitting source and a carrier phase measurement associated with a second circularly polarized signal received by the antenna from the transmitting source,
• determining, at a time t2, a second difference d2 of the carrier phase measurements associated with the first circularly polarized signal received by the antenna from the transmitting source and the second circularly polarized signal received by the antenna from the transmitting source,
• determining a third difference d3 which is the difference between the first and second differences;
• and
• determining the relative yaw from the third difference d3 and a difference in the wavelengths of the first and second circularly polarized signals.

A computer readable medium comprising computer executable instructions for:

• determining, at a time t1, a first difference d1 of carrier phase measurements associated with a first circularly polarized signal transmitted by a transmitting source and a second circularly polarized signal transmitted by the transmitting source,
• determining, at a time t2, a second difference d2 of carrier phase measurements associated with the first circularly polarized signal transmitted by the transmitting source and the second circularly polarized signal transmitted by the transmitting source, and
• determining a third difference d3 which is the difference between the first and second differences;
• and
• determining the relative yaw from the third difference d3 and a difference in the wavelengths of the first and second circularly polarized signals.