Design of Multi-Sensor Attitude Determination Systems
by
Gebre-Egziabher, D., R. C. Hayward and J. D. Powell
in
IEEE Transactions on Aerospace Electronic Systems, Vol. 40, No. 2, pp. 627-649, 2004.
Category: Journal Article
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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.
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