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Research on Micro GPS/SINS Integrated Attitude Determination System Based on MEMS

Author: MaPeiSheng
Tutor: XiaoQianGui
School: Nanjing University of Aeronautics and Astronautics
Course: Navigation, Guidance and Control
Keywords: micro unmanned aerial vehicle (MUAV) Global Positioning System MIMU StrapdownInertial Navigation System (SINS)
CLC: V249.122
Type: Master's thesis
Year: 2012
Downloads: 22
Quote: 0
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Abstract


The goal of the paper is to develop an attitude determination system for small UAV. The systemis used to calculate the UAV’s attitude angle in real time, which provides measurements feedback forattitude stabilization loop. Taking into account of the Miniaturization, low-power and low-cost, thepaper adopts the medium precision MIMU and GPS integration for the UAV’s attitude measurement.Aiming at the UAV’s high maneuvering flight characteristic, we use GPS derived accelerationsof airframe motion to compensate the accelerometer output. Using the compensated gravitationalacceleration and the azimuth solved by gravitational field and magnetic field as the observedquantities, and using the Quaternion differential equation as the state equation, we can establish anextended Kalman filter to estimate the UAV attitude. The combination of attitude determinationsystem overcome the disadvantage that gyro attitude diverges over time and can’t be used in long-term,and achieve the precisely attitude information in UAV’s high maneuvering and long time flight.To obtain the UAV’s gravitational acceleration along the airframe triaxial in maneuvering state,the paper has researched on the methods of GPS derived acceleration. Using Pseudorange ratedifferential to resolve the acceleration and using fading Kalman filter to filter it, we can improve themeasurement accuracy in UAV’s high maneuvering flight. Subtracting the motion acceleration,coriolis acceleration and normal acceleration from the accelerometer output values, we can obtain theUAV’s gravitational acceleration along the airframe triaxial in maneuvering state.Normally, the gyro precision is lower. To improve the measurement accuracy of the system, thepaper adopts Allan variance analysis to analyze the influence of each error term on gyro random error.It provides a basis for the gyro random errors model in the filter. Otherwise, the paper also uses fadingKalman filter to compensate gyro random error, and solves the problem that the compensation effectusing conventional Kalman filter in high maneuvering flight is not ideal.The paper adopts the modular design to conduct software designs for each module. It realizes theUAV system compatibility between maneuvering or non-maneuvering flight, and GPS loss of lock oreffective state. So the system can get the accurate UAV attitude under different flight status and flightenvironment.The paper uses the embedded AHRS hardware platform based on the architecture of"DSP+IMU+GPS-OEM board". In this hardware platform, we use the Attitude determination methoddesigned in the paper to carry on the flight simulation experiment. Finally, we achieve the desired objectives that we expected.

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CLC: > Aviation, aerospace > Aviation > Aircraft instrumentation,avionics, flight control and navigation > Flight control system and navigation > Flight control > Automatic control > Control system
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