Longitudinal Rate Gyro Bias and Pitch Attitude Estimation Utilizing an Accelerometer Array

Weisman, Ryan M.; Crassidis, Agamemnon L.

doi:10.2514/6.2009-6048

Cited by 2 publications

(9 citation statements)

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“…At this orientation, a divide by zero error, or singularity condition, occurs from the vehicle to reference rate transformation matrix CHAPTER 2. THEROY DEVELOPME T -Fixed and Body -Fixed Coordinate Frames [44] Table 2.1: Earth and Body -Fixed Axis Parameter Definitions [6] In addition to aircraft attitude descriptors such as Euler angle displacements through the use of the direct cosine matrix, additional attitude descriptors such as Euler -Rodrigues Formulation must be considered and implemented when dealing with the transformation of vehicle angular displacement rates (pitch, roll, and yaw rate) due to the occurrence of the Gimbal Lock singularity condition. Gimbal Lock is a singularity condition caused by the occurrence of two rotational axes of an aircraft or vehicle pointing in the same direction [49] t dynamics when a vehicle achieves a pitch angle rotation of plus or minus 90 degrees from the primary reference axis.…”

Section: Euler Angle Representationmentioning

confidence: 99%

“…[44] [6] through the use of Rodrigues Quaternion Formulation must be considered and implemented when dealing with the transformation of w rate) due to the occurrence of the Gimbal Lock singularity condition. Gimbal Lock is a singularity condition caused by the occurrence of [49].…”

Section: Chapter 2 Theroy Developme Tmentioning

confidence: 99%

“…Since the inception of the Kalman filter, the Kalman filter has become a large subject of extensive research and application methods, especially in the area of autonomous and unmanned navigation applications. [6,26,28,29,30,39,48] As discussed previously, the Kalman filter is a set of mathematical equations addressing the problem of estimating a state governed, typically, by a set of linear stochastic difference equations. In the case that the process or measurement correlation is nonlinear, an extended Kalman filter must be used.…”

Section: The Kalman Filtermentioning

confidence: 99%

“…Kalman Filter Foundations [6,26,28,30,31,39] The development of a Kalman filter requires adequate knowledge of the dynamics and signal measurements that are critical to the modeled system. An initial error in the dynamic modeling of the system or the associated system noise will result in a propagated error during the entire operation period of the filter.…”

Section: { }(mentioning

confidence: 99%

“…The device models implemented in this feasibility study expanded up the previously [2,6] developed and successfully implemented bias estimation algorithm and attitude determination device consisting of 13, one axis accelerometers equally spaced about a 180 degree semi-circular plane with a radius of 3 inches and a rate gyroscope positioned at the center of the device (center-of-gravity location of the device) orthogonal to the measurement plane of the axis as shown in Figure 3 The previously implemented method [2,6] and device model utilized an accelerometer spacing of 15 degrees in the longitudinal, or x-z plane, beginning at negative 90 degrees pitch and moving counterclockwise about the semi-circular array to positive 90 degrees of pitch as shown once again in Figure 3.3. Therefore, in this previously established device configuration, Accelerometer # 1 lies on the negative x-axis at negative -90 degrees of pitch, Accelerometer # 4 at -45 degrees of pitch, Accelerometer # 7 lies directly on the tertiary, or z-axis, at 0 degrees, Accelerometer # 10 lies at 45 degrees of pitch, and Accelerometer # 13 lies on the positive primary axis, or x-axis of the aircraft, at 90 degrees of pitch.…”

Section: Device Configurationmentioning

confidence: 99%

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Two Dimensional Rate Gyro Bias Estimation for Precise Pitch and Roll Attitude Determination Utilizing a Dual Arc Accelerometer Array

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2010

AIAA Atmospheric Flight Mechanics Conference

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In this thesis, a previously developed, novel one-dimensional attitude estimation device is expanded through the development and implementation of an innovative method for estimation of two-dimensional attitude making use of a unique low-cost, dual arc accelerometer array measuring longitudinal and transverse rotational rates in real-time. The device and method proposed is an expansion of a previously developed method for one-dimensional attitude determination and rate gyro bias estimation utilizing a one-dimensional accelerometer array. This new revolutionary device utilizes a dual arc accelerometer array and an algorithm for accurate and reliable two-dimensional attitude determination and rate gyro bias estimation in real-time. The method determines the local gravitational field vector from which attitude information can be resolved. Upon determining the location of the local gravitational field vector relative to two consecutive accelerometer sensors, the orientation of the device may then be estimated and the attitude determined. However, this measurement is discrete in nature; therefore, integrated rate gyro measurements are used to determine attitude information resulting in a continuous signal. However, attitude estimates and measurements produced by instantaneous rate sensors and gyroscope integration tend to drift over time due to drift and bias inherent to the rate gyro sensor. The integration of the acquired instantaneous rate signals amplify measurement errors leading to an undependable and imprecise estimate of the vehicles true attitude and orientation. A method for compensation of these errors is proposed in this work resulting in a highly accurate and continuous attitude estimate. For this thesis, simulations of the proposed method and device will be conducted with the inclusion of characteristic, real-world sensor noise and bias estimates produced from corrupted and biased sensors to analyze and assess the feasibility and validity of the proposed method and system configuration for twodimensional attitude determination. The end goal of this work is to produce a precise and reliable longitudinal and transverse attitude estimation array capable of measuring rate senor and gyro bias online so as to produce highly accurate and reliable pitch and roll angle tracking in real-time while under subjection to simulated flight conditions and scenarios. While this thesis is an expansion of a previously developed device and method, it is a departure from past works in that a new, two-dimensional accelerometer array arc is utilized and additional rotational dimensions are being included in the simulated analysis. IV Acknowledgments I would like to thank the faculty and staff of the Mechanical Engineering department at the Rochester Institute of Technology for providing me with the guidance and assistance necessary to have a truly great educational experience. In particular, I would like to thank Dr. Agamemnon Crassidis for his tutelage, guidance, and faith in my abilities to grow and improve as an individual a...

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Section: Euler Angle Representationmentioning

confidence: 99%

Section: Chapter 2 Theroy Developme Tmentioning

confidence: 99%