| Summary: | High-precision position and attitude determination is becoming increasingly important given the surge in BeiDou globalization and 5G commercialization. The most widely employed global navigation satellite system (GNSS) receiver models—specifically, single-difference and double-difference algorithms—can provide reasonable performance and cost for general needs only. Many precision-demanding applications require attitude determination, such as logistics vehicles in transportation and driverless vehicles in cities. They also pursue more sophisticated and cost-effective schemes. This study proposes, for the first time, a novel concept of entanglement difference of carrier phase for the synchronized multi-antenna sets of each GNSS receiver without an inertial navigation system, which is justified by establishing a rigorous mathematical foundation. Moreover, through deliberate experimental design, implementation, and calibration at the system level, this study achieves record higher performances than typical commercial products on the attitude determination precision for the yaw, pitch, and roll angles in both static and dynamic experiments, which demonstrates the strength of this technique and paves the way for its commercialization in the growing GNSS market, especially for China’s BeiDou global networking applications.
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