Attitude determination using fewer than three antennas

Abstract

Method and apparatus for determining the attitude or angular orientation of a moving vehicle or other moving body, using either two spaced apart antennas or a single antenna attached to or connected with the vehicle. Where two antennas are used, the spatial locations of each antenna are determined at a first selected time, and the spatial location of one antenna is determined at a second selected time. These three spatial locations determine a plane whose normal vector allows determination of the vehicle attitude at a time determined by the first and/or second selected times. Four or more spatial locations can also be used to determine a plane that indicates vehicle attitude. Where one antenna is used, for example, in a vehicle turn, the antenna spatial locations at three distinct selected times determine a plane that allows determination of the vehicle attitude at a time determined to the first, second and/or third selected times.

Dependencies are inferred from the claim text.