An Attitude Estimation Method for RPRVs Using Angular Rate Sensors with Drifts.
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- HIGASHINO Shin'ichiro
- 九州大学工学部航空工学教室
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- SHIMIZU Tetsu
- 運輸省航空局
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- NOMIYAMA Akira
- 九州大学大学院工学研究科航空宇宙工学専攻
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- SAKURAI Akira
- 九州大学工学部航空工学教室
Bibliographic Information
- Other Title
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- ドリフトを持つ角速度センサを用いたRPRVの姿勢角推定法について
- ドリフト オ モツ カクソクド センサ オ モチイタ RPRV ノ シセイカク
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Abstract
The authors have developed a method for the estimation of the pitch and roll angles of small aircraft such as RPRVs (Remotely-Piloted Research Vehicles) and UAVs (Unmanned Aerial Vehicles) which are too small to carry vertical gyros. The method uses three angular rate sensors with drifts, two accelerometers and air-data sensors. The attitude data obtained from the outputs of the accelerometers, which are corrected for translational and centripetal accelerations, contain high frequency errors due to the correction error for centripetal accelerations using body-axis angular rates. Similarly, the attitude data obtained from the integration of the outputs of the angular rate sensors contain low frequency errors due to sensor drifts and integration errors. Correct pitch and roll angles can be estimated by filtering out and combining the meaningful frequency regions of the two.
Journal
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- Aeronautical and Space Sciences Japan
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Aeronautical and Space Sciences Japan 45 (527), 713-718, 1997
THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES
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Keywords
Details 詳細情報について
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- CRID
- 1390282679454363520
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- NII Article ID
- 20000315665
- 10002862265
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- NII Book ID
- AN00189072
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- ISSN
- 24241369
- 00214663
- http://id.crossref.org/issn/00214663
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- NDL BIB ID
- 4353049
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed