Carrier-phase GNSS attitude determination and control system for unmanned aerial vehicle applications

Sabatini, R, Rodriguez, L, Kaharkar, A, Bartel, C and Shaid, T 2012, 'Carrier-phase GNSS attitude determination and control system for unmanned aerial vehicle applications', ARPN Journal of Systems and Software, vol. 2, no. 11, pp. 297-322.


Document type: Journal Article
Collection: Journal Articles

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Title Carrier-phase GNSS attitude determination and control system for unmanned aerial vehicle applications
Author(s) Sabatini, R
Rodriguez, L
Kaharkar, A
Bartel, C
Shaid, T
Year 2012
Journal name ARPN Journal of Systems and Software
Volume number 2
Issue number 11
Start page 297
End page 322
Total pages 26
Publisher Asian Research Publishing Network (ARPN)
Abstract This paper presents the results of a research activity performed by Cranfield University to assess the potential of carrierphase Global Navigation Satellite Systems (GNSS) for attitude determination and control of small to medium size Unmanned Aerial Vehicles (UAV). Both deterministic and recursive (optimal estimation) algorithms are developed for combining multiple attitude measurements obtained from different observation points (i.e., antenna locations), and their efficiencies are tested in various dynamic conditions. The proposed algorithms converge rapidly and produce the required output even during high dynamics manoeuvres. Results of theoretical performance analysis and simulation activities are presented in this paper, with emphasis on the advantages of the GNSS interferometric approach in UAV applications (i.e., low cost, high data-rate, low volume/weight, low signal processing requirements, etc.). Modelling and simulation activities focussed on the AEROSONDE UAV platform and considered the possible augmentation provided by interferometric GNSS techniques to a low-cost and low-weight/volume integrated navigation system recently developed at Cranfield University, which employs a Vision-based Navigation (VBN) system, a Micro-Electro-mechanical Sensor (MEMS) based Inertial Measurement Unit (IMU) and code-range GNSS (i.e., GPS and GALILEO) for position and velocity computations. The integrated VBN-IMU-GNSS (VIG) system is augmented by using the inteferometric GNSS Attitude Determination (GAD) and a comparison of the performance achievable with the VIG and VIG/GAD integrated Navigation and Guidance Systems (NGS) is presented. Finally, the data provided by these NGS are used to optimise the design of an hybrid controller employing Fuzzy Logic and Proportional-Integral-Derivative (PID) techniques for the AEROSONDE UAV.
Subject Avionics
Navigation and Position Fixing
Control Systems, Robotics and Automation
Engineering Instrumentation
Aerospace Engineering not elsewhere classified
Keyword(s) GNSS attitude determination
interferometry
unmanned aerial vehicle
low-cost navigation sensors
fuzzy logic controller
PID controller
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ISSN 2222-9833
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