Attitude Determination Algorithms through Accelerometers, GNSS Sensors, and Gravity Vector Estimator

Celis, Raúl de; Cadarso, Luís

doi:10.1155/2018/5394057

Cited by 12 publications

(11 citation statements)

References 22 publications

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“…The authors would like to thank Lieutenant Colonel Jesus Sanchez (NMT) and "Instituto Tecnológico La Marañosa" of the National Institute for Aerospace Technology (INTA) for solid modeling and testing of the concept and for discussions regarding modeling weapon delivery accuracy. This paper presents an improvement which may be employed in the navigation techniques presented in [11], "Attitude Determination Algorithms through Accelerometers, GNSS Sensors, and Gravity Vector Estimator" (International Journal of Aerospace Engineering, 2018).…”

Section: Acknowledgmentsmentioning

confidence: 99%

“…Semiactive laser (SAL) kits, and especially quadrant detector gadgets, have been produced with the end goal of enhancing accuracy in guided weapons and also for recognizing multiple objectives. Quadrant photodetectors have been applied in a wide range of engineering areas, for example, in measurement [7,8], laser collimation, control, angular encoder target tracking [9], and in particular in terminal guidance for PGMs [10,11]. One of the best points of interest of quadrant detector hardware is the superior performance regarding guidance, ordinarily in the last phases of the trajectory, when contrasted with the low cost incurred, which cannot be reached by any other system, for example, position-sensitive diodes (PSD), which dependably include higher expenses and probably will not be adequate for nonreusable gadgets like artillery munitions.…”

Section: Introductionmentioning

confidence: 99%

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Spot-Centroid Determination Algorithms in Semiactive Laser Photodiodes for Artillery Applications

Celis

Cadarso

2019

Journal of Sensors

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Precision of guided projectiles depends equally on the accuracy in determining the coordinates of the objective and on the exactness of the measurement devices utilized for position and attitude calculation of the projectile. Development of algorithms for low-cost high-precision terminal guidance systems is a cornerstone in research in this field. Semiactive laser (SAL) kits, and particularly quadrant detector devices, have been developed to improve precision in guided weapons. Photodetection system can be functionally divided into two main parts: sensing and processing. The sensed signal is processed to estimate the spot coordinates, i.e., the laser footprint, which provides some information regarding projectile-target relative position, to obtain the needed information for the navigation and guidance algorithms. The electrical intensities that a real sensor provides under laboratory conditions are compared to a mathematical model based on area intersection calculations to simulate the intensities on real flights. Then, four different processing algorithms, two of them rational, and the other two logarithmic, are tested for different spot sizes, which are nonlinear. Proposing an interpolation algorithm based on the four electrical intensities obtained in a semiactive laser quadrant photodetector, laser footprint center estimation is improved for artillery applications. Finally, an example illustrating a projectile flight is employed to compare real and calculated laser footprints in order to select the best algorithm for artillery applications.

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Section: Acknowledgmentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Spot-Centroid Determination Algorithms in Semiactive Laser Photodiodes for Artillery Applications

Celis

Cadarso

2019

Journal of Sensors

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“…The data obtained after the AD converter is presented as follows: (16) where n ad is the bit number of an AD converter. Substituting (14) and (15) into (16), d ad can be represented as follows:…”

Section: B Sensor's Outputs and Signal Preprocessingmentioning

confidence: 99%

“…This method is very susceptible to disturbing magnetic fields. In [14], a new approach for gravity vector estimations is presented and employed in an attitude determination algorithm. This method also requires a combination of multiple sensors to work together.…”

Section: Introductionmentioning

confidence: 99%

Online Correction Method for Ratio Methods by Using Geomagnetic Sensors Based on Kalman Filter

Wang

Liu

2019

IEEE Access

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By eliminating the data offset caused by a disturbing magnetic field during the flying condition of a spinning projectile, an adaptive unscented Kalman filter is applied to estimate the actual data of a geomagnetic field and the false value introduced by a disturbing magnetic field. For the ratio methods related to geomagnetic attitude measurement, the physical significance of the ratios obtained by all ratio methods is clarified. A new definition for the ratio is presented to ensure online estimation and numerical stability. The variation in the sensor outputs along the lateral directions is suggested to be a harmonic motion with the assumption that the spindle is fixed or in slow motion. The true data employed as a reference for comparison is generated by a dynamics model for spinning objects and by projecting the geomagnetic field to the measurement frame. Signal gathering and data preprocessing are considered. A signal-disturbing ratio is introduced to indicate the proportions of the real geomagnetic signal and the interference signal in the data acquisition process. The algorithm of the adaptive unscented Kalman filter is discussed. Simulations are performed using a 1 kHz sample rate and a duration of 60 seconds. The filtering results supported by a conventional unscented Kalman filter and adaptive unscented Kalman filters are compared with actual data for the conditions of different signal-disturbing ratios and 10 shifts of the disturbing magnetic field. The results of the simulation indicate that the proposed adaptive unscented Kalman filter with the introduced state equation achieves better performance than other filters mentioned in the paper. The filter has the ability to provide clean data from the noisy data flow measured from a spinning projectile for the ratio methods based on the geomagnetic measurements. INDEX TERMS Geomagnetic measurement, attitude estimation, Kalman filter, data correction, ratio methods.

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“…In addition, our approach can account for the presence of lumped disturbances (consisting of parameterized uncertainties and external disturbances) in both the translational and rotational dynamics of the quadrotor. In several studies of quadrotor [47,48], achieving the TTC mission is difficult, as only the vehicle's position and attitude are provided by sensors. Based on the assumption that only the position and attitude of the quadrotor are known, we devise an ESO to supply estimations of velocity, angular rate states, and the lumped disturbances.…”

Section: Introductionmentioning

confidence: 99%

Robust Backstepping Trajectory Tracking Control of a Quadrotor with Input Saturation via Extended State Observer

Xuan-Mung

Hong

2019

Applied Sciences

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Quadrotor unmanned aerial vehicles have become increasingly popular in several applications, and the improvement of their control performance has been documented in several studies. Nevertheless, the design of a high-performance tracking controller for aerial vehicles that reliably functions in the simultaneous presence of model uncertainties, external disturbances, and control input saturation still remains a challenge. In this paper, we present a robust backstepping trajectory tracking control of a quadrotor with input saturation. The controller design accounts for both parameterized uncertainties and external disturbances, whereas a new auxiliary system is proposed to cope with control input saturation. Taking into account that only the position and attitude of the quadrotor are measurable, we devise an extended state observer to supply the estimations of unmeasured states, model uncertainties, and external disturbances. We strictly prove the stability of the closed-loop system by using the Lyapunov theory and demonstrate the effectiveness of the proposed algorithm through numerical simulations.

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Attitude Determination Algorithms through Accelerometers, GNSS Sensors, and Gravity Vector Estimator

Cited by 12 publications

References 22 publications

Spot-Centroid Determination Algorithms in Semiactive Laser Photodiodes for Artillery Applications

Spot-Centroid Determination Algorithms in Semiactive Laser Photodiodes for Artillery Applications

Online Correction Method for Ratio Methods by Using Geomagnetic Sensors Based on Kalman Filter

Robust Backstepping Trajectory Tracking Control of a Quadrotor with Input Saturation via Extended State Observer

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