Design of multi-sensor attitude determination systems

被引：176

作者：

Gebre-Egziabher, D

机构：

[1] Univ Minnesota, Dept Aerosp Engn & Mech, Minneapolis, MN 55455 USA

[2] GeoTrax Prot LLC, Fountain Hills, AZ 85268 USA

[3] Stanford Univ, Dept Aeronaut & Astronaut, Stanford, CA 94305 USA

来源：

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS | 2004年 / 40卷 / 02期

关键词：

D O I：

10.1109/TAES.2004.1310010

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

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. Enter 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.

引用

页码：627 / 649

页数：23

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