An Attitude Determination System For A Small Unmanned Helicopter Using Low-Cost Sensors

2006 ◽  
Author(s):  
Tongyue Gao ◽  
Zhenbang Gong ◽  
Jun Luo ◽  
Wei Ding ◽  
Wei Feng
Keyword(s):  
Attitude Determination ◽  
Low Cost ◽  
Unmanned Helicopter ◽  
Determination System ◽  
Small Unmanned Helicopter

A Novel GNSS Attitude Determination Method Based on Primary Baseline Switching for A Multi-Antenna Platform

2020 ◽  
Vol 12 (5) ◽  
pp. 747
Author(s):  
Peng Zhang ◽  
Yinzhi Zhao ◽  
Huan Lin ◽  
Jingui Zou ◽  
Xinzhe Wang ◽  
...  
Keyword(s):  
Attitude Determination ◽  
Low Cost ◽  
Satellite System ◽  
Poor Quality ◽  
Integrated Navigation ◽  
Determination Method ◽  
Integrated Navigation System ◽  
Determination System ◽  
Vehicle Test ◽  
Global Navigation Satellite

The global navigation satellite system (GNSS)-based attitude determination system has attracted more and more attention with the advantages of having simplified algorithms, a low price and errors that do not accumulate over time. However, GNSS signals may have poor quality or lose lock in some epochs with the influence of signal fading and the multipath effect. When the direct attitude determination method is applied, the primary baseline may not be available (ambiguity is not fixed), leading to the inability of attitude determination. With the gradual popularization of low-cost receivers, making full use of spatial redundancy information of multiple antennas brings new ideas to the GNSS-based attitude determination method. In this paper, an attitude angle conversion algorithm, selecting an arbitrary baseline as the primary baseline, is derived. A multi-antenna attitude determination method based on primary baseline switching is proposed, which is performed on a self-designed embedded software and hardware platform. The proposed method can increase the valid epoch proportion and attitude information. In the land vehicle test, reference results output from a high-accuracy integrated navigation system were used to evaluate the accuracy and reliability. The results indicate that the proposed method is correct and feasible. The valid epoch proportion is increased by 16.2%, which can effectively improve the availability of attitude determination. The RMS of the heading, pitch and roll angles are 0.52°, 1.25° and 1.16°.

scholarly journals Deeply Integrated GNSS/Gyro Attitude Determination System

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2203
Author(s):  
Alexander Perov ◽  
Alexander Shatilov
Keyword(s):  
Attitude Determination ◽  
Signal To Noise Ratio ◽  
Low Cost ◽  
Dynamic Environment ◽  
Global Navigation Satellite Systems ◽  
Satellite Systems ◽  
System Sensitivity ◽  
Low Snr ◽  
Determination System ◽  
Phase Differences

Attitude determination systems based on Global Navigation Satellite Systems (GNSS) work on principle of phase interferometer, using multiple receiving antennas. They rely on a good quality of carrier phase tracking, that is not the case in real dynamic environment with low signal-to-noise ratio (SNR), for example, in a ground vehicle moving through an urban area or forest. There is still a problem in providing a GNSS attitude in such common conditions. This research is focused on improving sensitivity (i.e., the capability of providing attitude at a low SNR) and the reliability of the GNSS attitude determination system. It is contrasted with the majority of publications, where precision or computational efficiency is the main goal, but sensitivity and reliability are out of their scope. In the proposed system, sensitivity improved by using two measures: (a) tracking only phase differences instead of tracking full carrier phases—this is more sensitive due to the lower dynamics of the underlying process, and (b) using deep integration with gyroscope, where all phase differences are tracked in a vector gyro-aided loop closed on user’s attitude in state vector. The algorithm synthesis is given, and simulation results are presented in this article. This shows that the minimal working SNR is lowered from 27–36 dBHz (typical) down to 20 dBHz, even with a low-cost MEMS gyroscope.

A Study on Information Fusion of AHRS Based on DSP

2011 ◽  
Vol 271-273 ◽  
pp. 802-807
Author(s):  
Hong Sheng Tan ◽  
Xia Ming Yuan ◽  
Ji Hong Zhu
Keyword(s):  
Attitude Determination ◽  
Low Cost ◽  
Dynamic Performance ◽  
Attitude Measurement ◽  
Determination System ◽  
Navigation Error ◽  
High Dynamic ◽  
Calculation System ◽  
Gyro Drift ◽  
Effective Integration

For the angular velocity gyro drift and noise and the inertial navigation solution of the integral nature, the navigation error of the attitude will accumulate over time. With the increase of navigation time, the system may fail. In high dynamic motion the accelerometer / magnetometer attitude measurement navigation system will not work properly. Therefore, the accelerometer / magnetometer attitude determination system, haven’t no drift, but poor dynamic performance. This article will realize a low-cost, precision Attitude Calculation System with more effective integration of the two.

Low-cost attitude determination system and imager with embedded compression

2000 ◽  
Author(s):  
Jeffrey W. Percival ◽  
B. Babler ◽  
R. Bonomo ◽  
S. Gabelt ◽  
Walter M. Harris ◽  
...  
Keyword(s):  
Attitude Determination ◽  
Low Cost ◽  
Determination System ◽  
Embedded Compression

scholarly journals A Low-Cost INS-Integratable GNSS Ultra-Short Baseline Attitude Determination System

Sensors ◽  
2018 ◽  
Vol 18 (7) ◽  
pp. 2114 ◽  
Author(s):  
Wenyi Li ◽  
Peirong Fan ◽  
Xiaowei Cui ◽  
Sihao Zhao ◽  
Tianyi Ma ◽  
...  
Keyword(s):  
Attitude Determination ◽  
Low Cost ◽  
Short Baseline ◽  
Determination System

Flight results of a low-cost attitude determination system

2014 ◽  
Vol 99 ◽  
pp. 201-214 ◽  
Author(s):  
John C. Springmann ◽  
James W. Cutler
Keyword(s):  
Attitude Determination ◽  
Low Cost ◽  
Determination System
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