Flight Test of Attitude Determination System using Multiple GPS Antennae

2005 ◽  
Vol 59 (1) ◽  
pp. 119-133 ◽  
Author(s):  
Jaegyu Jang ◽  
Changdon Kee
Keyword(s):  
Navigation System ◽  
Attitude Determination ◽  
Phase Measurement ◽  
Angular Rate ◽  
Flight Test ◽  
The Body ◽  
Body Frame ◽  
Carrier Phase Measurement ◽  
External Interference ◽  
Determination System

Small Unmanned Aerial Vehicles (UAVs) or inexpensive airplanes, such as a Cessna single engine aircraft, require a navigation system with a cheap, compact and precise sensor. Over the past ten years, GPS receivers have begun to be used as primary or alternative navigation sensors, because their use can significantly reduce the overall system cost. This paper describes a navigation system incorporating a velocity-based attitude estimation system with an attitude determination system using multiple antennae, which was implemented and tested using a UAV. The main objective was to obtain precise attitude information using low cost GPS OEM boards and antennae. Attitude boundaries are derived from the relationship between the body frame and the wind coordinates, which are used to validate the resolved cycle ambiguity in an Euler angle domain. Angular rate based on Doppler measurements was used to exclude the degenerate pseudo-roll angle information during severe uncoordinated flight. Searching for cycle ambiguity at every epoch of the flight showed that the developed system gave reliable cycle integer solutions, although the carrier phase measurement was subject to additional errors, such as multipath, external interference, and phase centre variation. A flight test was performed using a 1/4-scale Piper J3 Cub model, CMC Allstar OEM boards, OEM AT575-70 antennae, and 700 MHz PC104 board.

A remark on the GNSS single difference model with common clock scheme for attitude determination

2016 ◽  
Vol 10 (3) ◽  
Author(s):  
Wantong Chen
Keyword(s):  
Attitude Determination ◽  
Phase Measurement ◽  
Qualitative Assessment ◽  
Actual System ◽  
Carrier Phase Measurement ◽  
Gnss Receivers ◽  
Single Difference ◽  
Important Field ◽  
The Common ◽  
Specific Care

AbstractGNSS-based attitude determination technique is an important field of study, in which two schemes can be used to construct the actual system: the common clock scheme and the non-common clock scheme. Compared with the non-common clock scheme, the common clock scheme can strongly improve both the reliability and the accuracy. However, in order to gain these advantages, specific care must be taken in the implementation. The cares are thus discussed, based on the generating technique of carrier phase measurement in GNSS receivers. A qualitative assessment of potential phase bias contributes is also carried out. Possible technical difficulties are pointed out for the development of single-board multi-antenna GNSS attitude systems with a common clock.

scholarly journals Performance Improvement of Time-Differenced Carrier Phase Measurement-Based Integrated GPS/INS Considering Noise Correlation

Sensors ◽  
2019 ◽  
Vol 19 (14) ◽  
pp. 3084 ◽  
Author(s):  
Jungbeom Kim ◽  
Younsil Kim ◽  
Junesol Song ◽  
Donguk Kim ◽  
Minhuck Park ◽  
...  
Keyword(s):  
Navigation System ◽  
Carrier Phase ◽  
Phase Measurement ◽  
Integrated System ◽  
Integer Ambiguity ◽  
Noise Correlation ◽  
Carrier Phase Measurement ◽  
Phase Measurements ◽  
Performance Improvements ◽  
Global Positioning

In this study, we combined a time-differenced carrier phase (TDCP)-based global positioning system (GPS) with an inertial navigation system (INS) to form an integrated system that appropriately considers noise correlation. The TDCP-based navigation system can determine positions precisely based on high-quality carrier phase measurements without difficulty resolving integer ambiguity. Because the TDCP system contains current and previous information that violate the format of the conventional Kalman filter, a delayed state filter that considers the correlation between process and measurement noise is utilized to improve the accuracy and reliability of the TDCP-based GPS/INS. The results of a dynamic simulation and an experiment conducted to verify the efficacy of the proposed system indicate that it can achieve performance improvements of up to 70% and 60%, respectively, compared to the conventional algorithm.

In-motion Alignment Algorithm for Vehicle Carried SINS Based on Odometer Aiding

2017 ◽  
Vol 70 (6) ◽  
pp. 1349-1366 ◽  
Author(s):  
Haijian Xue ◽  
Xiaosong Guo ◽  
Zhaofa Zhou ◽  
Kunming Wang
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Measured Data ◽  
The Body ◽  
Alignment Algorithm ◽  
Alignment Method ◽  
Initial Angle ◽  
Body Frame ◽  
Measurement Equation

In-motion alignment plays an important role in improving the manoeuvring capability of a vehicle, and allows the initialisation of a Strapdown Inertial Navigation System (SINS) while moving. Odometer (OD) aided in-motion alignment is widely adopted owing to its fully self-contained characteristic. This paper proposes a complete in-motion alignment algorithm for a vehicle-carried SINS based on odometer aiding, in which an in-motion coarse alignment method using the integration form of the velocity update equation in the body frame to give a rough initial angle is introduced and a new measurement equation in the body frame with a Kalman filter (KF) for the in-motion fine alignment is established. The advantages of the proposed method are verified by simulation and measured data.

An Integrated GPS/INS Navigation System for Land Vehicle

2013 ◽  
Vol 336-338 ◽  
pp. 221-226 ◽  
Author(s):  
Hossam Hendy ◽  
Xiao Ting Rui ◽  
Mostafa Khalil
Keyword(s):  
Experimental Work ◽  
Navigation System ◽  
Attitude Determination ◽  
The Body ◽  
Simulation Data ◽  
Land Vehicle ◽  
High Data ◽  
Mission Success ◽  
Initial Attitude ◽  
Filter Approach

A precise guided system needs an efficient control depending on a precise navigation algorithm, with the ability of getting an accurate initial attitude determination to guarantee the mission success. A navigation system is presented in this paper based on integration between inertial measuring unit and Global Positioning System via Kalman filter approach to satisfy an acceptant accuracy. The two well known Euler and Quaternion attitude determination techniques are implemented to evaluate the body orientation during motion. The carried out system is validated using both simulation data and experimental work. The simulation data is obtained using a six-degree-of-freedom model for a 122mm artillery rocket to obtain all ballistic trajectory parameters during flight. The experimental work is done using a land vehicle taking into consideration the initial attitude determination problem. The results showed high accuracy improvements with high data rates 200 Hz for full state navigation information (position, velocity and attitude).

Least Squares Method for Attitude Determination Using the Real Data of CBERS-2 Satellite

2014 ◽  
Vol 706 ◽  
pp. 181-190 ◽  
Author(s):  
W.R. Silva ◽  
H.K. Kuga ◽  
M.C. Zanardi ◽  
R.V. Garcia
Keyword(s):  
Reference System ◽  
Attitude Determination ◽  
Least Squares Method ◽  
Real Data ◽  
The Body ◽  
Space Environment ◽  
Artificial Satellites ◽  
Body Frame ◽  
Control Center ◽  
Yaw Attitude

his work is applied to the dynamics of rotational motion of artificial satellites, that is, itsorientation (attitude) with respect to an inertial reference system. The attitude determination involvesapproaches of nonlinear estimation techniques, which knowledge is essential to the safety and controlof the satellite and payload. Here one focuses on determining the attitude of a real satellite: CBERS-2(China Brazil Earth Resources Satellite). This satellite was launched in 2003 and were controlled andoperated in turns by China (Xi’an Control Center) and Brazil (Satellite Control Center). Its orbit isnear polar sun-synchronous with an altitude of 778km, crossing Equator at 10:30am in descendingdirection, frozen perigee at 90 degrees, and providing global coverage of the world every 26 days.The attitude dynamical model is described by nonlinear equations involving the Euler angles. Theattitude sensors available are two DSS (Digital Sun Sensor), two IRES (Infra-Red Earth Sensor), andone triad of mechanical gyros. The two IRES give direct measurements of roll and pitch angles with acertain level of error. The two DSS are nonlinear functions of roll, pitch, and yaw attitude angles. Thegyros furnish the angular measurements in the body frame reference system. Gyros are very importantsensors, as they provide direct incremental angles or angular velocities. They can sense instantaneousvariations of nominal velocities. An important feature is that it allows the replacement of complexmodels (different torques acting on the space environment) by using their measurements to turn thedynamical equations into simple kinematic equations. However gyros present several sources of errorof which the drift is the most troublesome. Such drifts yield along time an accumulation of errorswhich must be accounted for in the attitude determination process. Herein one proposes to estimatethe attitude and the drift of the gyros using the Least SquaresMethod. Results show that one can reachaccuracies in attitude determination within the prescribed requirements, besides providing estimatesof the gyro drifts which can be further used to enhance the gyro error model.

Rapid Transfer Alignment Using Integrated Navigation System as Reference

2015 ◽  
Vol 713-715 ◽  
pp. 1156-1165
Author(s):  
Wei Sheng ◽  
Xiao Han ◽  
Ding Sheng Sun
Keyword(s):  
Navigation System ◽  
The Body ◽  
Integrated Navigation ◽  
Body Frame ◽  
Time Duration ◽  
Transfer Alignment ◽  
Integrated Navigation System ◽  
Attitude Error ◽  
Long Time ◽  
The Impact

Traditional transfer alignment must use a pure Inertial Navigation System (INS) as the reference, because using the integrated navigation system as the reference would disrupt the transfer alignment process and lead to the divergence of the fine alignment filter. But there are some cases require the cooperation between the master INS and slave INS for long time duration, such as mapping. To guarantee the accuracy of the master INS, integrated navigation feedback is needed. So, transfer alignment technique using the integrated navigation system as the reference is required. Taking the error of master INS into account, a transfer alignment attitude error in the body frame was defined, which makes the transfer alignment attitude error free from the impact of integrated navigation feedback corrections. Then, its error equations were developed and a Kalman filter was designed based on it. Finally, a transfer alignment simulation using a GPS/INS integrated navigation system as reference was performed to validate the proposed scheme.

scholarly journals A Fast in-Motion Alignment Algorithm for DVL Aided SINS

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Li Kang ◽  
Lingyun Ye ◽  
Kaichen Song
Keyword(s):  
Attitude Determination ◽  
Unscented Kalman Filter ◽  
Integral Form ◽  
The Body ◽  
Doppler Velocity ◽  
Alignment Algorithm ◽  
Body Frame ◽  
Attitude Error ◽  
Motion Condition ◽  
Alignment Problem

Doppler velocity log (DVL) aided strapdown inertial navigation system (SINS) is a common navigation method for underwater applications. Owing to the in-motion condition and the lack of the GPS, it is a challenge to align a SINS under water. This paper proposed a complete in-motion alignment solution for both attitude and position. The velocity update equation and its integral form in the body frame are studied, and the attitude coarse alignment becomes an optimization-based attitude determination problem between the body frame velocity and the integral form of gravity. The body frame velocity and the Earth frame position are separately treated, and the position alignment problem turns into an equation solving problem. Simulation and on-lake tests are carried out to examine the algorithm. The heading could reach around 10 deg accuracy and the pitch and roll could be aligned up to 0.05 deg in 60 s. With attitude error of this level, the heading could reach 1 deg accuracy in 240 s using unscented Kalman filter (UKF) based fine alignment. The final position error could achieve 1.5% of the voyage distance. This scheme can also be applied to other body frame velocity aided SINS alignments.

Attitude determination sensor for low Earth orbit satellite based on Lorentz force

2018 ◽  
Vol 233 (6) ◽  
pp. 2219-2230 ◽  
Author(s):  
Mohsen Rezaei ◽  
Kamran Raissi ◽  
Hamed Hashemi Mehne ◽  
Yaser Norouzi
Keyword(s):  
Magnetic Field ◽  
Lorentz Force ◽  
Attitude Control ◽  
High Speed ◽  
Attitude Determination ◽  
Low Earth Orbit ◽  
The Body ◽  
Body Frame ◽  
Specific Frequency ◽  
Better Than

Spacecraft attitude determination is a crucial task in attitude control subsystems. It provides the necessary feedback to close the control loop. Several sensors such as star trackers, Sun sensors, and horizon sensors are used for this purpose. The development of other methods can help control engineer with newer options to design their systems. Here, an innovative sensor for determining the attitude of a spacecraft is presented. The proposed sensor measures the Lorentz force vector due to the interaction between the magnetic field of the Earth, and the high linear velocity of the spacecraft. This sensor is composed of three series of orthogonal variable capacitors. The capacitors are connected in parallel to increase the total capacitance. The capacitors have movable plates which actuated by alternating current with specific frequency. Due to very high speed of spacecraft relative to magnetic field of earth in low orbit, the Lorentz force is exerted on the charges of the capacitor plates. The plates have same velocity as the spacecraft does. The applied Lorentz force to the plates affects their motion so that the harmonic can be seen in the output. Measuring the amplitude of the mentioned harmonic results in measurement of a component of the Lorentz force in the direction of capacitors. Installing the three capacitors orthogonally can measure the three rectangular components of the Lorentz force. This vector will be in the body frame of the spacecraft. The two-plate and three-plate capacitor are the two different proposed mechanisms and their performance is compared. Once the Lorentz force is known as a vector in the body frame, it can be applied along with data from another sensor to determine the attitude of the spacecraft. Based on simulation results, achievable resolution is better than 3°, which can be improved by further research.

Low Cost AHRS Aids GPS Attitude Navigation System

2014 ◽  
Vol 536-537 ◽  
pp. 748-755
Author(s):  
Tong Yue Gao ◽  
Hai Lang Ge
Keyword(s):  
Navigation System ◽  
Carrier Phase ◽  
Phase Measurement ◽  
Low Cost ◽  
Integer Ambiguity ◽  
Baseline Length ◽  
Carrier Phase Measurement ◽  
Basic Model ◽  
Aircraft Type ◽  
Gps System

Recently, the SUAV has become the research focus at home and abroad. There is a new aircraft type: double ducted tilting Subminiature UAV system, this paper put forward a new attitude navigation system:AHRS-based low-cost GPS carrier phase orientation Navigation System. AHRS aids GPS fastly fix the attitude.This article proposed application the constraint solving the ambiguity basic model, which is based on the double differential equations of the carrier phase measurement. Then we use baseline length and the inaccurate attitude angle constraint to solver integer ambiguity. By the static experimental results show that this method is fast, effective, the AHRS-GPS system can provide high accuracy navigation for SUAV.

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