Design of multi-sensor attitude determination systems |
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Authors: | Gebre-Egziabher D Hayward RC Powell JD |
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Institution: | Dept. of Aerosp. Eng. & Mech., Minnesota Univ., Minneapolis, MN, USA; |
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Abstract: | 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. Euler 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. |
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