Quaternion-Based Attitude Estimation Using Multiple GPS Antennas, MEMS IMU

W-J. Jun, G-I. Jee, Y.J. Lee, J-S. Hong

Abstract:	Since the usage of high performance inertial navigation system(INS) is limited by their high price, low cost MEMS IMUs are used for general application areas. However, MEMS IMUs can experience large positioning errors in very short time due to their poor drift error characteristics. In this paper, we design an attitude determination system using three GPS receivers, low grade MEMS IMU. This system design is focused on the continuity as well as the accuracy in providing the attitude information. The Kalman Filter is used for effective system integration and it estimates quaternion parameters for attitude calculation. The integration technique is based on tightly coupling of GPS double differenced carrier phase and raw IMU data to provide better attitude estimation performance as well as sensor bias error estimation. That is, instead of using attitude information determined from the multi-antenna GPS system, the double-differenced carrier phase measurements, not the attitude, are directly used as the input to the integrating Kalman Filter. Simulation results shows its effectiveness in integration of INS and GPS carrier phase measurements from multiple GPS antennas.
Published in:	Proceedings of the 16th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS/GNSS 2003) September 9 - 12, 2003 Oregon Convention Center Portland, OR
Pages:	480 - 488
Cite this article:	Jun, W-J., Jee, G-I., Lee, Y.J., Hong, J-S., "Quaternion-Based Attitude Estimation Using Multiple GPS Antennas, MEMS IMU," Proceedings of the 16th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS/GNSS 2003), Portland, OR, September 2003, pp. 480-488.
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