Performance Enhancement of Single-Antenna GPS-Based Attitude by Simple Integration of Low-Cost Gyro

H. No, C. Kee, A. Cho, J. Kim

Abstract:	In this paper, the integration of pseudo-attitude of singleantenna GPS receiver and MEMS gyro is proposed. Lowcost GPS module has several problems when it is used for pseudo-attitude based autopilot system. First of all, lowcost GPS module has low navigation solution output rate. Consequently the estimation rate of pseudo-attitude is also low and it causes the limitation of control loop frequency. Furthermore especially in the low-cost module, there is usually strong smoothing filter in order to compensate for poor navigation quality. The velocity measurement from this module gives pseudo-attitude which includes time-delay. These problems can degrade control performance and stability of autopilot system. As a solution of mentioned problem, this paper proposed usage of 3-axis MEMS gyro and system model considering time-delay of pseudo-attitude. For validation of algorithm, simulation is performed.
Published in:	Proceedings of the 2011 International Technical Meeting of The Institute of Navigation January 24 - 26, 2011 Catamaran Resort Hotel San Diego, CA
Pages:	1095 - 1099
Cite this article:	No, H., Kee, C., Cho, A., Kim, J., "Performance Enhancement of Single-Antenna GPS-Based Attitude by Simple Integration of Low-Cost Gyro," Proceedings of the 2011 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2011, pp. 1095-1099.
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