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Attitude Determination Using a MEMS-Based Flight Information Measurement Unit

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...

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Detalles Bibliográficos
Autores principales: Ma, Der-Ming, Shiau, Jaw-Kuen, Wang, I.-Chiang, Lin, Yu-Heng
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Molecular Diversity Preservation International (MDPI) 2011
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3279199/
https://www.ncbi.nlm.nih.gov/pubmed/22368455
http://dx.doi.org/10.3390/s120100001
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author Ma, Der-Ming
Shiau, Jaw-Kuen
Wang, I.-Chiang
Lin, Yu-Heng
author_facet Ma, Der-Ming
Shiau, Jaw-Kuen
Wang, I.-Chiang
Lin, Yu-Heng
author_sort Ma, Der-Ming
collection PubMed
description 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.
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spelling pubmed-32791992012-02-24 Attitude Determination Using a MEMS-Based Flight Information Measurement Unit Ma, Der-Ming Shiau, Jaw-Kuen Wang, I.-Chiang Lin, Yu-Heng Sensors (Basel) Article 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. Molecular Diversity Preservation International (MDPI) 2011-12-22 /pmc/articles/PMC3279199/ /pubmed/22368455 http://dx.doi.org/10.3390/s120100001 Text en © 2012 by the authors; licensee MDPI, Basel, Switzerland This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
spellingShingle Article
Ma, Der-Ming
Shiau, Jaw-Kuen
Wang, I.-Chiang
Lin, Yu-Heng
Attitude Determination Using a MEMS-Based Flight Information Measurement Unit
title Attitude Determination Using a MEMS-Based Flight Information Measurement Unit
title_full Attitude Determination Using a MEMS-Based Flight Information Measurement Unit
title_fullStr Attitude Determination Using a MEMS-Based Flight Information Measurement Unit
title_full_unstemmed Attitude Determination Using a MEMS-Based Flight Information Measurement Unit
title_short Attitude Determination Using a MEMS-Based Flight Information Measurement Unit
title_sort attitude determination using a mems-based flight information measurement unit
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3279199/
https://www.ncbi.nlm.nih.gov/pubmed/22368455
http://dx.doi.org/10.3390/s120100001
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