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

Translated title of the contribution: An Attitude Estimation Method for RPRVs Using Angular Rate Sensors with Drifts

東野 伸一郎, 清水 哲, 野見山 章, 桜井 晃

Research output: Contribution to journalArticle

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.
Translated title of the contributionAn Attitude Estimation Method for RPRVs Using Angular Rate Sensors with Drifts
Original languageJapanese
Pages (from-to)713-718
Number of pages6
Journal日本航空宇宙学会誌
Volume45
Issue number527
DOIs
Publication statusPublished - Dec 5 1997

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