MAV attitude determination by vector matching

An attitude determination algorithm suitable for micro aerial vehicle (MAV) applications is developed. The algorithm uses Earth's magnetic and gravity field vectors as observations. The magnetic field vector measurements are obtained from a magnetometer triad. The gravity field vector is measur...

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Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems 2008-07, Vol.44 (3), p.1012-1028
Main Authors: Gebre-Egziabher, D., Elkaim, G.H.
Format: Article
Language:English
Subjects:
Accelerometers
Algorithms
Area measurement
Earth
Geographic information systems
Global Positioning System
Gravitational fields
Gravity
Magnetic field measurement
Magnetometers
Mathematical analysis
Position measurement
Satellite navigation systems
Vectors (mathematics)
Vehicles
Velocity measurement
Wide area augmentation system
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Summary:An attitude determination algorithm suitable for micro aerial vehicle (MAV) applications is developed. The algorithm uses Earth's magnetic and gravity field vectors as observations. The magnetic field vector measurements are obtained from a magnetometer triad. The gravity field vector is measured by fusing information from an accelerometer triad with GPS/WAAS (wide area augmentation system) velocity measurements. Two linearization and estimator designs for implementing the algorithm are discussed. Simulation and experimental flight test results validating the algorithm are presented.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2008.4655360