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Nonlinear asymptotic attitude estimation using double GPS receivers and gyro

Mohamad Hasani, A ; Sharif University of Technology | 2020

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  1. Type of Document: Article
  2. DOI: 10.1109/TCST.2019.2911047
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2020
  4. Abstract:
  5. We present an asymptotically convergent nonlinear attitude estimator using a rate gyro and GPS. Double-difference (DD) carrier phase measurements are provided by at least two GPS antennas. The unknown integer ambiguity factor related to GPS carrier phase measurement is estimated along with the attitude. An observability condition is derived to guarantee the convergence of the estimator when a single baseline vector is available with more than four satellites in view. A systematic procedure for tuning observer parameters is also presented. Finally, the experimental test from a light fixed-wing aircraft illustrates the performance of the proposed observer. © 1993-2012 IEEE
  6. Keywords:
  7. Ambiguity factor ; Double baseline ; GPS ; Gyro ; Navigation ; Fixed wings ; Gyroscopes ; Phase measurement ; Satellite antennas ; Attitude estimation ; Carrier-phase measurement ; Double differences ; Experimental test ; GPS carrier phase ; GPS receivers ; Integer ambiguity ; Single-baseline ; Global positioning system
  8. Source: IEEE Transactions on Control Systems Technology ; Volume 28, Issue 4 , July , 2020 , Pages 1579-1585
  9. URL: https://ieeexplore.ieee.org/document/8704290