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Design of multi-sensor attitude determination systems

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3 Author(s)
Gebre-Egziabher, D. ; Dept. of Aerosp. Eng. & Mech., Minnesota Univ., Minneapolis, MN, USA ; Hayward, R.C. ; Powell, J.D.

The design of inexpensive multi-sensor attitude determination systems is discussed. The systems discussed fuse information from a triad of solid state rate gyros with an aiding system mechanized using GPS or magnetometers and accelerometers. Euler angle and quaternion-based sensor fusion algorithms are developed. Methods for gain scheduling and estimator pole placement are presented. Using simulation and flight test results, it is shown that quaternion-based algorithms simplify gain scheduling and improve transient response.

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Aerospace and Electronic Systems, IEEE Transactions on  (Volume:40 ,  Issue: 2 )