Attitude Determination Using MEMS-Based Flight Information Measurement Unit
學年 100
學期 1
出版（發表）日期 2011-12-22
作品名稱 Attitude Determination Using MEMS-Based Flight Information Measurement Unit
作品名稱（其他語言）
著者 Ma, Der-Ming; Shiau, Jaw-Kuen; Wang, I-Chiang; Lin, Yu-Heng
單位 淡江大學航空太空工程學系
出版者 Basel: M D P I AG
著錄名稱、卷期、頁數 Sensors 12(1), pp.1-23
摘要 Obtaining precise attitude information is essential for aircraft navigation and control. This paper presents the results of the attitude determination using an in-house designed low-cost MEMS-based flight information measurement unit. This study proposes a quaternion-based extended Kalman filter to integrate the traditional quaternion and gravitational force decomposition methods for attitude determination algorithm. The proposed extended Kalman filter utilizes the evolution of the four elements in the quaternion method for attitude determination as the dynamic model, with the four elements as the states of the filter. The attitude angles obtained from the gravity computations and from the electronic magnetic sensors are regarded as the measurement of the filter. The immeasurable gravity accelerations are deduced from the outputs of the three axes accelerometers, the relative accelerations, and the accelerations due to body rotation. The constraint of the four elements of the quaternion method is treated as a perfect measurement and is integrated into the filter computation. Approximations of the time-varying noise variances of the measured signals are discussed and presented with details through Taylor series expansions. The algorithm is intuitive, easy to implement, and reliable for long-term high dynamic maneuvers. Moreover, a set of flight test data is utilized to demonstrate the success and practicality of the proposed algorithm and the filter design.
關鍵字 attitude determination;quaternion;flight information measurement unit;extended Kalman filter
語言 en
ISSN 1424-8220
期刊性質 國外
收錄於 SCI
產學合作
通訊作者 Shiau, Jaw-Kuen
審稿制度 否
國別 CHE
公開徵稿
出版型式 ,紙本
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