Nominal orbit parameters for ao40 i eccentricitv i 0. Survey of gpsbased attitude determination algorithms. American institute of aeronautics and astronautics 12700 sunrise valley drive, suite 200 reston, va 201915807 703. There is both a welldeveloped theory and an abundance of numerical algorithms for constrained minimization of functions in euclidean space, and it is. The design and testing of a system to determine the position and attitude of an airborne sensor from gps observations are described. Gpsbased attitude determination is an important research field in recent years, where the key technologies involve the detection and reparation of cycle skip, integer ambiguities resolution, attitude solution, and so forth. At the heart of high accuracy realtime gpsbased attitude determination is the quick and correct resolution of the carrier phase ambiguities. Development of gpsbased attitude determination algorithms ieee. Development of the stanford gnss navigation testbed for. A least squares estimate of satellite attitude siam. This page lists doctoral theses containing research relating to or employing gps technologies. The theoretical methodologies and numerical results of quaternion estimation quest algorithms for the gps based attitude determination of a low earth orbit gyrostat satellite are presented.
Multipath is recognised as the performance driver for gps based attitude determination, so that multipath reduction and mitigation is the key to significantly improve the achievable accuracy, today experimentally demonstrated to about 0. Geometric descent algorithms for attitude determination using. Integer ambiguity resolution for gps based attitude determination system. Survey of globalpositioningsystembased attitude determination. The theoretical methodologies and numerical results of quaternion estimation quest algorithms for the gpsbased attitude determination of. Axelrads research interests include technology and algorithms for gpsbased orbit and attitude determination for spacecraft in low and highearth orbit, multipath characterization and correction for spacecraft, aircraft, and ground. This chapter provides an overview of practical applications of gnssbased attitude determination. Global navigation satellite system ambiguity resolution with. Precise gpsbased position, velocity and acceleration. Click on the title of any thesis, displayed in bold red text, to viewdownload a copy of the thesis. This work describes the development and testing of gpsbased attitude and heading determination system ahrs using singlefrequency l1 carrier phase differential gps cpdgps. Comparison of attitude determination approaches using multiple. Gps based attitude determination is an important research field in recent years, where the key technologies involve the detection and reparation of cycle skip, integer ambiguities resolution, attitude solution, and so forth. It is the first known book to provide detailed derivations and explanations of state attitude determination and gives readers realworld examples from actual working spacecraft missions.
Thus, the prerequisite for attitude determination technique based on gps is to calculate baselines between antennas to. Small satellite attitude determination based on gpsimu. Download java real time projects with topics, ideas and pdf downloads. Small satellite attitude determination based on gpsimu data. This paper introduces the gps based attitude determination system genius onboard the university small satellite flying laptop. Efficient dualfrequency ambiguity resolution algorithm. Next, cohens method for transforming the general cost function into wahbas problem is shown.
Realtime attitude determination for microsatellite by lambda method combined with kalman filtering, 22nd aiaa int. Gps based position and attitude determination for airborne. Experimental results on three multipath compensation. Vector observationaided attitudeattituderate estimation. The theoretical methodologies and numerical results of quaternion estimation quest algorithms for the gpsbased attitude determination of a low earth orbit gyrostat satellite are presented. One of the goals of this thesis was to develop a set of stateoftheart gnss data processing tools, and make them available for the research community. This receiver utilizes differential carrier phase techniques to determine azimuth, pitch and roll angles of a threeantenna. This paper discusses the benefits of using dualfrequency receivers for attitude determination applications. This paper describes two global positioning system gps based attitude determination algorithms which contain steps of integer ambiguity resolution and attitude computation. Thesis focuses on the development of algorithms and tools for precise gpsbased position, velocity and acceleration determination very far from reference stations in postprocess mode. The work was expanded to look at gpsbased attitude determination, using multiple gps receivers and antennas on a single platform, as a possible navigation aid. After this previous mathematical development, the gravity vector can be estimated on body axes just by accelerometer data and a set of coefficients that are preloaded on the rocket guidance, navigation, and control system.
Research is being performed to develop new and efficient algorithms for attitude determination using global positioning system signals. Gps based attitude determination for the flying laptop. Using gps data from a fixed array of four antennas, each connected to an independent receiver, all six exterior orientation parameters of an airborne scanner can be determined with an accuracy that meets the georeferencing requirements for a range of applications. Park seoul national university, seoul 151742, republic of korea we present an algorithm for attitude determination using global positioning system gpsphase di erence measurements.
A dynamic model for gps based attitude determination and testing. Geometric descent algorithms for attitude determination using the global positioning system, j. A lowcost attitude heading reference system for use in autonomous vehicles, ion global navigation satellite systems conference, ion gnss 2006, fort worth, tx, sept. Also, system observability using two baselines is discussed. Real time attitude independent gps integer ambiguity resolution. Introduction gps based attitude determination is an important research. Proceedings of the 37th sice annual conference, chiba, japan, 2931 july 1998. A new algorithm for attitude determination using global positioning system signals john l. Efficient dualfrequency ambiguity resolution algorithm for gps based attitude determination. Realtime singlefrequency gps memsimu attitude determination 7. Pdf development of gpsbased attitude determination.
Gpsbased realtime attitude determination for a moving. From 1990 to 1992 she was with stanford telecommunications. While not directed specifically at gpsbased attitude determination, in related work a number of researchers have posed optimization problems on so. Report of a joint workshop of the national academy of engineering and. The attitude determination algorithm which is based on a kalman filter and processes single differences of the cacode and carrier phase measurements is shortly described. Gpsbased attitude determination for microsatellites, proc.
Analysis of gpsbased real time attitude determination system. A new algorithm for attitude determination using global. Vector determination attitude determination integer resolution raw phase measurements extended phase measurements corrected phase measurements vector estimate attitude estimate kalman filter allegro cohen least squares baritzhack new algorithm eulerq geometric descent baritzhack 2 noniterative iterative. Vector matching algorithms has the lowest accuracy but does not suffer from.
For the general gpsbased attitude determination problem, cohen 6 develops a recursive algorithm for online estimation of the attitude that is based on a linearization of the objective function. The global positioning system gps is a satellitebased navigation system that was originally designed for the u. Efficient dualfrequency ambiguity resolution algorithm for gps based attitude determination journal of surveying engineering august 2008 analysis and evaluation of various tropospheric modeling approaches for highprecision gps kinematic positioning over medium ranges and at high altitude. Introduction gpsbased attitude determination is an important research. Real time attitude independent gps integer ambiguity. The system presented in 7 uses magnetometers, accelerometers, and gps as the primary sensors and determines attitude by solving wahbas problem 8. The attitude tumbling of the gyrostat satellite is suppressed with the proposed linear regulators. It is shown it gets a precise attitude result with the direct attitude determination method in the simulation. Gps based realtime attitude determination for a moving. Gps constellation of spacecraft was developed for accurate navigation information of land based, air, and spacecraft user systems.
The list is arranged alphabetically by name of the graduate student. Analysis of attitude determination methods using gps carrier. Analysis of gpsbased real time attitude determination. Pdf development of gpsbased attitude determination algorithms. This chapter provides an overview of practical applications of gnssbased attitude determination, gives the principles of attitude. Gpsbased precise orbit determination of the very low earthorbiting gravity mission goce, j. If three or more gps antennas are mounted properly on a platform and differences of gps signals measurements are collected simultaneously, the baselines vectors between antennas can be determined and the platform orientation defined by these vectors can be calculated. A gpsbased attitude determination system can be seen as an algorithm that takes the raw differential phase measurements as inputs and generates an estimate of the baseline attitude as output. The physical, architectural and operational features of a gps based attitude determination receiver capable of threeaxis solutions with accuracy to several milliradians for airborne, sea and land platforms is presented. Propagation algorithms for attituderelated ambiguity resolution. First, prior knowledge of baseline length, heading, and pitch obtained from other navigation equipment or sensors are used to reconstruct objective function rigorously. Global navigation satellite system ambiguity resolution.
High accuracy integrated global positioning system. High accuracy integrated global positioning systeminertial. At the heart of high accuracy realtime gps based attitude determination is the quick and correct resolution of the carrier phase ambiguities. Development of gpsbased attitude determination algorithms. The gps based attitudedetermination problemcan beviewedas an optimization problem onso3, and as is wellknown,so3 does not possess a euclidean structure. Gpsbased attitude system is an important research field, since it is a valuable. Realtime singlefrequency gpsmemsimu attitude determination 7. A gps based attitude determination system can be seen as an algorithm that takes the raw differential phase measurements as inputs and generates an estimate of the baseline attitude as output. A multiantenna gps array has been used by many researchers and in practise and to determine the attitude parameters of a mobile platform. Simulation results show the e ectiveness of the proposed algorithm. The attitude tumbling of the gyrostat satellite is. Then, a general technique for transforming the general cost function is developed. Efficient dualfrequency ambiguity resolution algorithm for.
Real time attitude determination system based on gps youtube. Teunissen developed an algorithm called constrained lambda method. Thus, the prerequisite for attitude determination technique based on gps is to calculate baselines. This paper describes a set of numerical optimization algorithms for solving the gpsbascd attitude determination problem. Vehicles attitude can be uniquely determined from two noncollinear relative position vectors, known as the baseline vectors. The ambiguity resolution performance, baseline, and attitude solution accuracy is compared between single and dualfrequency modes. The subject matter is chosen to fill the void of existing textbooks and treatises, especially in state and dynamics attitude determination. Mathematically rigorous, the book begins with the introduction, the basics of coordinate and time systems and satellite orbits, as well as gps observables, and deals with topics such as physical influences, observation equations and their parameterisation, adjustment and filtering, ambiguity resolution, software development and data processing and the determination of perturbed orbits. The development of these gnss functionalities and the verification of their capability to meet nextgeneration space mission requirements necessitate a highfidelity testing environment. Both attitude and attituderate were estimated, and the filters used the nonlinear euler equations of motion for attitude propagation.
Efficient dualfrequency ambiguity resolution algorithm for gpsbased attitude determination. Attitude determination using gps carrier phase has been applied successfully to aircraft in experiments by a number of researchers. The first algorithm extends the ambiguity function method to account for the unique requirement of attitude determination. Jang j, kee c 2009 verification of a realtime attitude determination algorithm through development of 48channel gps attitude receiver hardware. The most common method for performing gps based attitude determination of objects with relatively. Efforts included not only the development of data processing algorithms and software, but also the collection and analysis of gps and ins flight data aboard a twin otter aircraft. In an effort to formally characterize its accuracy and bandwidth performance, a gps attitude determination system was flight tested against an inertial navigation unit inu. Realtime attitude determination system based on gps carrier. Then, the general loss function used for gps based attitude determination is shown, and an analysis is performed for the case that the baselines are proportional to an orthonormal set. Gpsbased attitude determination of gyrostat satellite by. Dynamicsbased attitude determination using the global positioning system changmook chunand f. Sensors free fulltext rategyrointegral constraint for. Jansen mjf, gunter bc, kusche j 2009 the impact of grace, gps and obp data on estimates of global mass redistribution. The method of steepest descent and newtons method are generalized to so3 by taking advantage of its lie.
Flight tests of attitude determination using gps compared. So far the majority of research has focused on improving the timetoambiguity resolution, and in improving the accuracy of the derived yaw, pitch and roll parameters. Regarding to this technique, a software package is developed and presented to process. In order to simplify the calculus, an orthonormal base must be defined in both axis systems, b and ned. Attitude systems include the sensors, actuators, avionics, algorithms, software, and ground support equipment used to determine and control the attitude of a vehicle. Gnss single frequency, single epoch reliable attitude. Guidance, navigation and control conference guidance. The gpsbased attitudedetermination problemcan beviewedas an optimization problem onso3, and as is wellknown,so3 does not possess a euclidean structure.
The tans vector is a 6channe1, l, ca code gps receiver6, which has been used for real time orbit and attitude determination applications in leo. The global positioning system gps is a satellite based navigation system that was originally designed for the u. Gps based attitude determination using kalman filters and a constant angular rate model. Analysis of attitude determination methods using gps.
Geometric descent algorithms for attitude determination. A potentially inexpensive, gyrofree multiantenna gpsbased attitude determination system is discussed in 9 and 10. Abstract a calibration technique is advanced that can analyze multipath error in spacevehicle attitude determinations based on global positioning system gps data. A test platform is set up for verifying these algorithms. A system formed by multiple global navigation satellite system gnss antennas placed at known relative positions acts as an attitude sensor. This research presents the design, development, and verification of the stanford gnss navigation testbed for spacecraft formationflying and rendezvous. Both attitude and attitude rate were estimated, and the filters used the nonlinear euler equations of motion for attitude propagation. Development of the stanford gnss navigation testbed for distributed space systems vincent giralo, space rendezvous lab, stanford university, stanford, ca, united states simone damico, space rendezvous lab, stanford university, stanford, ca, united states biography ies vincent giralo is a ph. A novel algorithm is proposed to solve some problems.
If only the latest batch of measurements is used, then the optimal way to estimate the baseline attitude is by least squares. A computational algorithm is developed for estimating accurately the attitude of a robotic arm which moves along a predetermined path. A direct attitude determination approach based on gps double. The second algorithm explores the artificial neural network approach to find the attitude. Java real time projects with source code and documentation. However, the number of civilian gps users now exceeds the military users, and many commercial markets have emerged. Then, the general loss function used for gpsbased attitude determination is shown, and an analysis is performed for the case that the baselines are proportional to an orthonormal set. Mitigating multipath error in gps based attitude determination. Realtime attitude determination system based on gps and aided 6. Attitude estimation is the process of determining the spatial orientation of an object.
For global navigation satellite system gnss single frequency, single epoch attitude determination, this paper proposes a new reliable method with baseline vector constraint. Attitude determination algorithms through accelerometers. Attitude is the threedimensional orientation of a vehicle with respect to a specified reference frame. Park seoul national university, seoul 151742, republic of korea we present an algorithm for attitude determination using global positioning system.
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