Design of multi-sensor attitude determination systems
Design of multi-sensor attitude determination systems
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DOI：
10.1109/taes.2004.1310010
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发表时间：
2004-04-01
影响因子：
4.4
通讯作者：
Gebre-Egziabher, D
中科院分区：
文献类型：
--
作者：
Gebre-Egziabher, D
讨论了廉价多传感器姿态确定系统的设计。所讨论的系统将来自三个固态速率陀螺仪的信息与使用全球定位系统（GPS）或磁力计和加速度计实现的辅助系统进行融合。开发了基于角度和四元数的传感器融合算法。提出了增益调度和估计器极点配置的方法。通过仿真和飞行测试结果表明，基于四元数的算法简化了增益调度并改善了瞬态响应。
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.