{"title":"微惯性测量/GPS组合姿态测量系统的实现","authors":"Shen Xiaorong, Wang Yueming, Dong Rongsheng","doi":"10.1109/ASCC.2013.6606334","DOIUrl":null,"url":null,"abstract":"The attitude information is one of the most importance for navigation or stabilization control. In this paper, a low cost and robust micro inertial measurement/GPS combinatorial attitude measurement system is implemented. The attitude is obtained with two-antenna GPS configuration combined with micro-inertial measurement unit. Based on the analysis of the fusion algorithm for attitude estimation, the filter model is constructed with error multiplicative quaternion. Furthermore, the UD decomposition is adopted to suppress the filter divergence. The experiment result shows that the design satisfies the precision requirements for unmanned aerial vehicles or other tactical applications.","PeriodicalId":6304,"journal":{"name":"2013 9th Asian Control Conference (ASCC)","volume":"26 1","pages":"1-4"},"PeriodicalIF":0.0000,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Implementation of micro-inertial measurement/GPS combinatorial attitude measurement system\",\"authors\":\"Shen Xiaorong, Wang Yueming, Dong Rongsheng\",\"doi\":\"10.1109/ASCC.2013.6606334\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The attitude information is one of the most importance for navigation or stabilization control. In this paper, a low cost and robust micro inertial measurement/GPS combinatorial attitude measurement system is implemented. The attitude is obtained with two-antenna GPS configuration combined with micro-inertial measurement unit. Based on the analysis of the fusion algorithm for attitude estimation, the filter model is constructed with error multiplicative quaternion. Furthermore, the UD decomposition is adopted to suppress the filter divergence. The experiment result shows that the design satisfies the precision requirements for unmanned aerial vehicles or other tactical applications.\",\"PeriodicalId\":6304,\"journal\":{\"name\":\"2013 9th Asian Control Conference (ASCC)\",\"volume\":\"26 1\",\"pages\":\"1-4\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-06-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 9th Asian Control Conference (ASCC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ASCC.2013.6606334\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 9th Asian Control Conference (ASCC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ASCC.2013.6606334","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Implementation of micro-inertial measurement/GPS combinatorial attitude measurement system
The attitude information is one of the most importance for navigation or stabilization control. In this paper, a low cost and robust micro inertial measurement/GPS combinatorial attitude measurement system is implemented. The attitude is obtained with two-antenna GPS configuration combined with micro-inertial measurement unit. Based on the analysis of the fusion algorithm for attitude estimation, the filter model is constructed with error multiplicative quaternion. Furthermore, the UD decomposition is adopted to suppress the filter divergence. The experiment result shows that the design satisfies the precision requirements for unmanned aerial vehicles or other tactical applications.
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