Attitude Determination with A Low Cost GPS/IMU Unit

Wu Chen, Congwei Hu and Yongrong Sun

Abstract:	With the development of remote sensing equipment, such CCD camera, Laser scanner, Lidar, and SAR, a number of integrated surveying systems (both land and airborne) have been developed. These systems provide not only more efficient way for surveying but also much more information than traditional surveying can provide. One of the key elements of such systems is an attitude determination unit. Traditionally, high accuracy INS systems have to be used for the tasks, which is very expensive to operate. In recent years, GPS has been widely used to control the long-term drifts of INS and therefore it is possible to use low cost IMU systems for the applications. This paper presents a high accuracy attitude determination system that integrates a low cost MEMS IMU unit with multi-antenna L1 C/A code receivers. The integration algorithm is based on a 15 state Kalman filter. In order to reduce the non-linear errors of the inertial sensors, a close-loop Kalman filter is used for the integration. The experiments demonstrate that the attitude accuracy of 0.2 degrees can be achieved with this system. Key words: Attitude determination; GPS/INS; Kalman filtering
Published in:	Proceedings of the 58th Annual Meeting of The Institute of Navigation and CIGTF 21st Guidance Test Symposium (2002) June 24 - 26, 2002 Hyatt Regency Hotel Albuquerque, NM
Pages:	465 - 472
Cite this article:	Chen, Wu, Hu, Congwei, Sun, Yongrong, "Attitude Determination with A Low Cost GPS/IMU Unit," Proceedings of the 58th Annual Meeting of The Institute of Navigation and CIGTF 21st Guidance Test Symposium (2002), Albuquerque, NM, June 2002, pp. 465-472.
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