Title :
Implementation of micro-inertial measurement/GPS combinatorial attitude measurement system
Author :
Shen Xiaorong ; Wang Yueming ; Dong Rongsheng
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China
Abstract :
The attitude information is one of the most importance for navigation or stabilization control. In this paper, a low cost and robust micro inertial measurement/GPS combinatorial attitude measurement system is implemented. The attitude is obtained with two-antenna GPS configuration combined with micro-inertial measurement unit. Based on the analysis of the fusion algorithm for attitude estimation, the filter model is constructed with error multiplicative quaternion. Furthermore, the UD decomposition is adopted to suppress the filter divergence. The experiment result shows that the design satisfies the precision requirements for unmanned aerial vehicles or other tactical applications.
Keywords :
Global Positioning System; attitude control; attitude measurement; autonomous aerial vehicles; combinatorial mathematics; filtering theory; inertial navigation; inertial systems; mobile robots; sensor fusion; stability; UD decomposition; attitude estimation; attitude information; error multiplicative quaternion; filter divergence suppression; filter model; fusion algorithm; microinertial measurement unit; navigation; robust microinertial measurement-GPS combinatorial attitude measurement system; stabilization control; tactical applications; two-antenna GPS configuration; unmanned aerial vehicles; Cams; Estimation; Extraterrestrial measurements; Global Positioning System; Matrix decomposition; Position measurement; Quaternions; combinatorial attitude measurement system; filter divergence; fusion estimation; multiplicative quaternion;
Conference_Titel :
Control Conference (ASCC), 2013 9th Asian
Conference_Location :
Istanbul
Print_ISBN :
978-1-4673-5767-8
DOI :
10.1109/ASCC.2013.6606334
