DocumentCode :
2129973
Title :
Filter design for attitude determination using GPS and gyro: frequency domain approach
Author :
Chiang, Y.-T. ; Wu, T.F. ; Chang, F.R. ; Wang, L.S.
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
fYear :
2001
fDate :
2001
Firstpage :
240
Lastpage :
245
Abstract :
A constant gain estimator is proposed to integrate the GPS and gyro measurements for aircraft attitude determination. Through frequency domain approach, a pair of high pass and low pass filters are employed. Concerning GPS and gyros errors, we apply power spectral density (PSD) properties to select the cut-off frequencies. Once these values are determined, we can derive the associated Kalman gains. Since the PSD specifications of gyros are provided by equipment manufactory, the Kalman gains can be designed in advance. The reduction of the burdens of online computations, which are unavoidable in the traditional Kalman, make our algorithms suitable for real systems. From the assessment of software simulations, the proposed filter is sound and effective
Keywords :
Global Positioning System; Kalman filters; aircraft instrumentation; attitude measurement; filtering theory; frequency-domain analysis; gyroscopes; high-pass filters; low-pass filters; spectral analysis; GPS; Global Positioning System; Kalman gains; PSD properties; aircraft attitude determination; constant gain estimator; cut-off frequency determination; filter design; frequency domain approach; gyroscope; high-pass filters; low-pass filters; power spectral density properties; Acoustic noise; Angular velocity; Frequency domain analysis; Global Positioning System; Kalman filters; Low-frequency noise; Position measurement; Quaternions; Satellite broadcasting; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers
Conference_Location :
Nagoya
Print_ISBN :
0-7803-7306-5
Type :
conf
DOI :
10.1109/SICE.2001.977840
Filename :
977840
Link To Document :
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