Development of a High Accuracy Pointing System for Maneuvering Platforms

Joseph M. Strus, Michael Kirkpatrick and James W. Sinko

Abstract:	This paper describes the general design and testing of attitude systems for moving vehicles capable of 0.1° 3-D pointing accuracy, small external form factor, roll-on capability and reasonable cost. Applications include simulation and training systems, antenna pointing and airborne radar. The systems combine tactical grade inertial measurement units (IMU) with GPS. In particular, the Honeywell HG1900 MEMS inertial unit will be discussed and compared with a Litton LN-200. The paper will discuss the filter modifications used to incorporate the Honeywell IMU, an assessment of the error characteristics of the Honeywell MEMS IMU and the overall performance achieved versus the above requirements. Two different truth systems for verifying the accuracy of the system were used. For ground tests, the GPS/INS systems were mounted on a 4.6 meter boom on a minivan. The boom was designed and engineered to precise tolerances in a machine shop. The boom has carefully mounted L1/L2 GPS antennas on each end. The resulting GPS attitude system has an estimated accuracy of 0.06° in azimuth, and 0.15° in pitch. The boom also has a telescopic rifle scope so that distant landmarks can be sighted with an estimated accuracy of 0.015°. With proper maneuvers, we have observed the LN-200 based system to provide accuracies of 0.06° in azimuth and 0.03° in pitch. When the system was stationary the azimuth accuracy deteriorated at a rate of about 0.5° per hour. The HG1900 based unit attained the same level of accuracy, but had a stationary drift rate of approximately 2° per hour.
Published in:	Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007) September 25 - 28, 2007 Fort Worth Convention Center Fort Worth, TX
Pages:	2541 - 2549
Cite this article:	Strus, Joseph M., Kirkpatrick, Michael, Sinko, James W., "Development of a High Accuracy Pointing System for Maneuvering Platforms," Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007), Fort Worth, TX, September 2007, pp. 2541-2549.
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