Design of multi-sensor attitude determination systems

Demoz Gebre-Egziabher; Roger C. Hayward; J. David Powell

doi:10.1109/TAES.2004.1310010

Design of multi-sensor attitude determination systems

Demoz Gebre-Egziabher
, Roger C. Hayward
, J. David Powell

Aerospace Engineering and Mechanics

Research output: Contribution to journal › Article › peer-review

243 Scopus citations

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.

Original language	English (US)
Pages (from-to)	627-649
Number of pages	23
Journal	IEEE Transactions on Aerospace and Electronic Systems
Volume	40
Issue number	2
DOIs	https://doi.org/10.1109/TAES.2004.1310010
State	Published - Apr 2004

Bibliographical note

Funding Information:
This work was sponsored by a research grant from the Federal Aviation Administration Satellite Program Office and a NASA-Langley technology transfer grant from Seagull Technology Inc.

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10.1109/TAES.2004.1310010

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author = "Demoz Gebre-Egziabher and Hayward, \{Roger C.\} and Powell, \{J. David\}",

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AU - Hayward, Roger C.

AU - Powell, J. David

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AB - 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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Design of multi-sensor attitude determination systems

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