Pitch and roll attitude estimation of a small-scaled helicopter using single antenna GPS with gyroscopes |
| |
| Authors: | Hian-Kun Tenn Shau-Shiun Jan Fei-Bin Hsiao |
| |
| Institution: | (1) Institute of Aeronautics and Astronautics, National Cheng Kung University, No. 1, University Road, Tainan City, Taiwan |
| |
| Abstract: | A method is presented for estimating the roll and pitch attitude of a small-scaled unmanned helicopter based on the velocity
measurements of the global positioning system (GPS). The small-scaled helicopter is a radio controlled (RC) model which is
readily available and affordable for academic laboratories as a research platform. Only one single antenna GPS receiver is
equipped on the RC helicopter to acquire the velocity measurements needed for the attitude estimation. The velocity information
is recorded by the onboard computer for post-processing. An attitude and heading reference system (AHRS) is used to provide
the reference attitudes. The required angular rates and heading for this study are also given by the gyroscopes and compass
of the AHRS for the sake of system’s simplification. The Kalman filter is applied to estimate the helicopter’s accelerations
by using the GPS velocity measurements. The estimated accelerations form the fundamental elements of synthesizing the pseudo-roll
and the pseudo-pitch. With some legitimate simplifications and assumptions, the relation between the helicopter’s attitudes
and the accelerations estimated from the GPS velocity measurements can be developed. Furthermore, to enhance the accuracy
of the pseudo-attitudes, the angular rates acquired from the gyroscopes are incorporated into the estimation algorithm of
pseudo-attitudes by using a complementary filter.
|
| |
| Keywords: | Attitude estimation GPS Unmanned helicopter |
| 本文献已被 SpringerLink 等数据库收录！ |
