Estimation of rotation angles based on GPS data from a UX5 Platform

• Autorzy: Wierzbicki D. , Krasuski K.
• Języki publikacji: EN

Abstrakty

EN

Data integration from INS and GPS sensors is applied in aeronautical navigation as a basic conception for determination of aircraft position. A GPS sensor is used to estimate coordinates (X, Y, Z) and velocity (Vx, Vy, Vz) also in a navigation solution. On the other hand, an INS sensor provides rotation angles (heading, pitch and roll) and acceleration parameters (Ax, Ay, Az). The GPS sensor is preferred to obtain an approximate value of rotation angles. In this paper, the results of studies on determination of heading, pitch and roll angles using GPS technology are presented. For this purpose, GPS data from a single-frequency L1 receiver from a UX5 platform were used. Calculations were executed in the HPR_GPS software, whose source code was written in Scilab 5.4.1 language. The software operation and an algorithm for estimation of heading, pitch, roll angles there is described. The preliminary results of rotation angles from the HPR_GPS software show that heading, pitch and roll values are very similar to raw INS measurements. The mean difference between the GPS data (after Kalman filter operation) and the INS data for the heading angle is equal to 0.32( with a standard deviation of 5.41(, for the pitch angle is equal 4.98( with a standard deviation of 5.06( and for the roll angle is about 0.06( with a standard deviation of 0.69).

Słowa kluczowe

EN

GPS; heading; pitch; roll; Kalman filter

• Wydawca: Wydawnictwo PAK
• Czasopismo: Measurement Automation Monitoring
• Rocznik: 2015
• Tom: Vol. 61, No. 11
• Strony: 516--520
• Opis fizyczny: Bibliogr. 11 poz., fot., rys., tab., wykr., wzory

Twórcy

autor

Wierzbicki D.

• Wojskowa Akademia Techniczna, Wydział Inżynierii Lądowej i Geodezji, 2 Sylwestra Kaliskiego Str., 00-908 Warsaw

autor

Krasuski K.

• Zespół Technik Satelitarnych, 16 Zawiszy Czarnego Str., 08-530 Dęblin
• Starostwo Powiatowe w Rykach, Wydział Geodezji, Kartografii i Katastru Nieruchomości, 10A Wyczółkowskiego Str., 08-500 Ryki

Bibliografia

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• [2] Cai C.: Precise Point Positioning using dual-frequency GPS and GLONASS measurements. PhD thesis, University of Calgary, 2009.
• [3] Cóias J. M. M.: Attitude Determination Using Multiple L1 GPS Receiver. Diploma thesis, Universidade Tecnica de Lisboa, 2012.
• [4] Godha S:. Performance Evaluation of Low Cost MEMS-Based IMU Integrated With GPS for Land Vehicle Navigation Application. Diploma thesis, University of Calgary, 2006.
• [5] Keong J. H.: Determining heading and pitch using a Single Difference GPS/GLONASS approach. Diploma Thesis, University of Calgary, 1999.
• [6] Kędzierski J.: Filtr Kalmana - zastosowania w prostych układach sensorycznych. Koło Naukowe Robotyków Konar, 2007.
• [7] Osada E.: Geodezja. Politechnika Wrocławska, Wrocław, 2001.
• [8] Salycheva A. O., Cannon M. E.: Kinematic Azimuth Alignment of INS using GPS Velocity Information, Proceedings of NTM 2004 Conference (Session E3), San Diego, CA, 2004 January 26-28, The Institute of Navigation.
• [9] Sanz Subirana J., Juan Zornoza J. M., Hernández-Pajares M.: GNSS Data Processing. Volume I: Fundamentals and Algorithms, ESA, 2013.
• [10] Shin E. H.: Accuracy Improvement of Low Cost INS/GPS for Land Applications. Diploma thesis, University of Calgary, 2001.
• [11] Yi Y.: On improving the accuracy and reliability of GPS/INS- based direct sensor georeferencing. PhD thesis, The Ohio State University, 2007.