Development of Attitude Constraints for Real-time Attitude Determination System using GPS carrier phase

As one of validation tool for attitude determination system, we have used various constraints using priori information which is known through base vector set up. However these conventional constraints cannot guarantee validity in terms of final solutions such as Euler angle. So we suggest attitude boundary concept to verify the final attitude solution on the flying airplane, it is based on the combination of velocity based attitude estimation technique and ambiguity resolution. we can say it can check invalid solution effectively at just one epoch without repeatability test of resolved cycle ambiguity. In this paper we show that the suggested constraint can effectively reject incorrectly resolved cycle ambiguity the conventional constraints have missed.