GPS Based Attitude Determination and Verification using a Serial Robotic Arm

In this work we propose an algorithm for determining the attitude of a rigid body in a three dimensional space. To do this, we use three L1 GPS sensors that receive signals from GNSS satellites. To test and verify our model we use a serial robotic manipulator, by changing the orientation of the manipulator's end effecter at predetermined rates with the rigid body attached along with the GPS sensors we can verify our mathematical model. The data obtained shows that our model works very well. In this paper we discuss both the mathematical model as well as the experimental setup for model testing and verification, and present our results