NDLI: Pitch and roll attitude estimation of a small-scaled helicopter using single antenna GPS with gyroscopes

Content Provider	Springer Nature Link
Author	Tenn, Hian Kun Jan, Shau Shiun Hsiao, Fei Bin
Copyright Year	2009
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.
Starting Page	209
Ending Page	220
Page Count	12
File Format	PDF
ISSN	10805370
Journal	GPS Solutions
Volume Number	13
Issue Number	3
e-ISSN	15211886
Language	English
Publisher	Springer-Verlag
Publisher Date	2009-01-17
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Attitude estimation GPS Unmanned helicopter Electrical Engineering Automotive Engineering Extraterrestrial Physics, Space Sciences Meteorology/Climatology Geophysics/Geodesy
Content Type	Text
Resource Type	Article
Subject	Earth and Planetary Sciences

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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