TY - GEN
T1 - Low-cost loosely-coupled dual GPS/INS for attitude estimation with application to a small UAV
AU - Rhudy, Matthew
AU - Gu, Yu
AU - Napolitano, Marcello R.
N1 - Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - This work presents the development and estimation results of using information from Inertial Navigation System (INS) and two separate GPS antennas placed along the longitudinal axis of an Unmanned Aerial Vehicle (UAV) in order to extract attitude information. The equations for direct calculation of the pitch and yaw angles were derived and implemented, revealing their insufficiency in estimating these angles directly. Methods were compared that use various combinations of attitude information from three different sources: rate gyroscopes, gravity vector, and dual GPS position. Attitude estimation results were evaluated using UAV flight data including an accurate 'truth' measurement from a mechanical vertical gyroscope. The dual GPS position information was shown to be effective in regulating INS drift, but only provided marginal improvement when also fused with gravity vector information.
AB - This work presents the development and estimation results of using information from Inertial Navigation System (INS) and two separate GPS antennas placed along the longitudinal axis of an Unmanned Aerial Vehicle (UAV) in order to extract attitude information. The equations for direct calculation of the pitch and yaw angles were derived and implemented, revealing their insufficiency in estimating these angles directly. Methods were compared that use various combinations of attitude information from three different sources: rate gyroscopes, gravity vector, and dual GPS position. Attitude estimation results were evaluated using UAV flight data including an accurate 'truth' measurement from a mechanical vertical gyroscope. The dual GPS position information was shown to be effective in regulating INS drift, but only provided marginal improvement when also fused with gravity vector information.
UR - http://www.scopus.com/inward/record.url?scp=85088344971&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85088344971&partnerID=8YFLogxK
U2 - 10.2514/6.2013-4957
DO - 10.2514/6.2013-4957
M3 - Conference contribution
AN - SCOPUS:85088344971
SN - 9781624102240
T3 - AIAA Guidance, Navigation, and Control (GNC) Conference
BT - AIAA Guidance, Navigation, and Control (GNC) Conference
PB - American Institute of Aeronautics and Astronautics Inc.
T2 - AIAA Guidance, Navigation, and Control (GNC) Conference
Y2 - 19 August 2013 through 22 August 2013
ER -