Low-cost loosely-coupled dual GPS/INS for attitude estimation with application to a small UAV

Matthew Rhudy, Yu Gu, Marcello R. Napolitano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control (GNC) Conference
StatePublished - Sep 16 2013
EventAIAA Guidance, Navigation, and Control (GNC) Conference - Boston, MA, United States
Duration: Aug 19 2013Aug 22 2013

Publication series

NameAIAA Guidance, Navigation, and Control (GNC) Conference

Other

OtherAIAA Guidance, Navigation, and Control (GNC) Conference
CountryUnited States
CityBoston, MA
Period8/19/138/22/13

Fingerprint

Inertial navigation systems
Unmanned aerial vehicles (UAV)
Global positioning system
Gyroscopes
Gravitation
Costs
Antennas

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Rhudy, M., Gu, Y., & Napolitano, M. R. (2013). Low-cost loosely-coupled dual GPS/INS for attitude estimation with application to a small UAV. In AIAA Guidance, Navigation, and Control (GNC) Conference (AIAA Guidance, Navigation, and Control (GNC) Conference).
Rhudy, Matthew ; Gu, Yu ; Napolitano, Marcello R. / Low-cost loosely-coupled dual GPS/INS for attitude estimation with application to a small UAV. AIAA Guidance, Navigation, and Control (GNC) Conference. 2013. (AIAA Guidance, Navigation, and Control (GNC) Conference).
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Rhudy, M, Gu, Y & Napolitano, MR 2013, Low-cost loosely-coupled dual GPS/INS for attitude estimation with application to a small UAV. in AIAA Guidance, Navigation, and Control (GNC) Conference. AIAA Guidance, Navigation, and Control (GNC) Conference, AIAA Guidance, Navigation, and Control (GNC) Conference, Boston, MA, United States, 8/19/13.

Low-cost loosely-coupled dual GPS/INS for attitude estimation with application to a small UAV. / Rhudy, Matthew; Gu, Yu; Napolitano, Marcello R.

AIAA Guidance, Navigation, and Control (GNC) Conference. 2013. (AIAA Guidance, Navigation, and Control (GNC) Conference).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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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.

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Rhudy M, Gu Y, Napolitano MR. Low-cost loosely-coupled dual GPS/INS for attitude estimation with application to a small UAV. In AIAA Guidance, Navigation, and Control (GNC) Conference. 2013. (AIAA Guidance, Navigation, and Control (GNC) Conference).