Method for estimating the attitude of a vehicle

Abstract

The invention relates to a method for estimating the attitude (A) of a vehicle (1000) by using a global navigation satellite system, GNSS, (2000) having a plurality of satellites (2010, 2020, 2030, 2040), wherein the vehicle comprises at least a first antenna (1200) and a second antenna (1210) having a separation (d) to each other, comprising the steps of: detecting that said vehicle is moving and not turning and obtaining a heading using the GNSS; calculating an integer ambiguity fix corresponding to the relative position vector of the antennas using said heading the separation (d); determining the attitude of the vehicle, including validating candidate values of the attitude obtained from the GNSS by analysing residuals in respect of the relative position vector.

Dependencies are inferred from the claim text.