The paper focuses on a navigation facility, relying on commercial-off-the-shelf (COTS) technology, developed to generate highaccuracy\r\nattitude and trajectory measurements in postprocessing. Target performance is cm-level positioning with tenth of degree\r\nattitude accuracy. The facility is based on the concept of GPS-aided inertial navigation but comprises carrier-phase differential\r\nGPS (CDGPS) processing and attitude estimation based on multiantenna GPS configurations. Expected applications of the system\r\ninclude: (a) performance assessment of integrated navigation systems, developed for general aviation aircraft and medium size\r\nunmanned aircraft systems (UAS); (b) generation of reference measurements to evaluate the flight performance of airborne sensors\r\n(e.g., radar or laser); and (c) generation of reference trajectory and attitude for improving imaging quality of airborne remote sensing\r\ndata.The paper describes system architecture, selected algorithms for data processing and integration, and theoretical performance\r\nevaluation. Experimental results are also presented confirming the effectiveness of the implemented approach.\r\n1. Introduction\r\nField test refers to the testing of a device or sensor in the\r\nconditions under which it will be actually used. Field testing\r\nbecomes necessary when numerical and indoor testing may\r\nfail, that is, in all the cases in which the operative conditions\r\nare difficult to be reproduced with high fidelity by software or\r\nlaboratory simulations.\r\nA typical example is the performance assessment of integrated\r\nnavigation systems for airborne applications. In this\r\ncase several factorsmust be taken into account, including but\r\nnot limited to: (a) the intrinsic dynamical and statisticalmodels\r\nof sensor and systems, (b) the selected data fusion strategy,\r\nand (c) the typical and the worst case manoeuvres that must\r\nbe considered to determine a trustworthy dynamicalmodel of\r\nthe aircraft where the system is installed. Indeed, high performance\r\nheading and attitude determination units are needed\r\nboth in general aviation and in unmanned aircraft systems\r\n(UAS) applications to attain an adequate control performance.\r\nUAS are more demanding in terms of attitude determination\r\nperformance than manned aircraft for a series of\r\nissues. First, the absence of a human pilot onboard prevents\r\nthe aircraft from using the human senses such
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