Accurate vehicle attitude angle estimation is essential for automated driving and mapping. Therefore, we focus on the attitude angle estimation method using multiple GNSS antennas. In this study, a general-purpose IMU is used to interpolate the points where satellite signals cannot be received, with the aim of increasing the accuracy and reducing the cost of attitude angle estimation using multiple GNSS antennas. The integration with a general-purpose IMU is performed by using EKS to achieve higher accuracy. However, these methods assume that errors follow a Gaussian distribution, and errors in attitude angles calculated under the influence of multipath do not follow a Gaussian distribution, which causes errors to increase. By eliminating the attitude angles affected by multipath through reliability judgment, we aim to improve the accuracy of attitude angle estimation using EKS.
