Apparatus and process for determining the position and heading or attitude of an
antenna array are described based on radiating sources, preferably GNSS or other such
satellite positioning systems. An optimum
satellite is selected and the
antenna array is “null steered” by combining the phase of the received signals to calculate a null or null angle that points toward the optimum
satellite. The null will determine angle for elevation toward the optimum satellite and
azimuth or heading. The heading is the
azimuth of the (which may be actual or calculated) projection of the null vector to the satellite onto the Earth's surface. The actual location on Earth of the
antenna array can be found and the antenna array
azimuth with respect to the satellite can be determined. The null angle may be measured more precisely by dithering on either side to average out
noise and then averaging the angle deviations to calculate the null angle. If the attitude of the antenna array with respect to the Earth's surface is desired, a null vector to a second satellite may be generated and the intersection of the two nulls will allow the attitude of the antenna array, with respect to one or both of the satellites, to be determined. The difference between the measured attitude of the antenna array with respect to the null vector and the calculated attitude of the satellite from the GNSS signals, is the attitude of the array with respect to the Earth's surface. All viewable satellites may be used, tracked, and nulls determined for each, and
many antennas if in a known pattern relative to each other can be used to make the determinations more accurate and reliable.