1. Chang G, Xu T, Wang Q, Li S, Deng K (2017) GNSS attitude determination method through vectorisation approach. IET Radar Sonar Navig 11(10):1477–1482. https://doi.org/10.1049/iet-rsn.2017.0160
2. Dai Z, Knedlik S, Loffeld O (2009) A MATLAB toolbox for attitude determination with GPS multi-antenna systems. GPS Solutions 13(3):241–248. https://doi.org/10.1007/s10291-008-0108-x
3. Groves PD (2013) Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, 2nd edn. Artech House, London
4. Leick A, Rapoport L, Tatarnikov D (2015) GPS satellite surveying, 4th edn. John Wiley & Sons, New Jersey
5. Luo X, Schaufler S, Carrera M, Celebi I High-Precision RTK Positioning with Calibration-Free Tilt Compensation. In: FIG Congress, Istanbul, Turkey, May 6–11 2018