In applications that involve measuring the movement of a three-dimensional object, such as a ship or aircraft, it is often required to measure the attitude of the ship so that the position of a sensor (such as multibeam echo sounder or aerial camera) can be determined in relation to the GPS antenna.
For such a mathematical task it is necessary to compute the position of the GPS antenna and the attitude of the platform (roll, pitch and yaw). With this information it is possible to compute the precise position of the echo sounder in real time to the application,. Other common uses of the technology are aerial photogrammetry and ship navigation system calibration.
