Design of multi-sensor attitude determination systems

Author

Gebre-egziabher, Demoz ; Hayward, Roger C. ; Powell, J. David

Author_Institution

Dept. of Aerosp. Eng. & Mech., Minnesota Univ., Minneapolis, MN, USA

Volume

40

Issue

2

fYear

2004

fDate

4/1/2004 12:00:00 AM

Firstpage

627

Lastpage

649

Abstract

The design of inexpensive multi-sensor attitude determination systems is discussed. The systems discussed fuse information from a triad of solid state rate gyros with an aiding system mechanized using GPS or magnetometers and accelerometers. Euler angle and quaternion-based sensor fusion algorithms are developed. Methods for gain scheduling and estimator pole placement are presented. Using simulation and flight test results, it is shown that quaternion-based algorithms simplify gain scheduling and improve transient response.

Keywords

Global Positioning System; accelerometers; attitude control; attitude measurement; magnetometers; sensor fusion; Euler angle; GPS; accelerometers; estimator pole placement; gain scheduling; magnetometers; multisensor attitude determination systems; quaternion-based sensor fusion algorithm; solid state rate gyros; transient response; Accelerometers; Aerospace simulation; Fuses; Global Positioning System; Magnetometers; Position measurement; Sensor fusion; Solid state circuits; State feedback; Testing;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/TAES.2004.1310010

Filename

1310010