An attitude determination algorithm suitable for micro aerial vehicle (MAV) applications is developed. The algorithm uses Earth's magnetic and gravity field vectors as observations. The magnetic field vector measurements are obtained from a magnetometer triad. The gravity field vector is measured by fusing information from an accelerometer triad with GPS/WAAS (wide area augmentation system) velocity measurements. Two linearization and estimator designs for implementing the algorithm are discussed. Simulation and experimental flight test results validating the algorithm are presented.


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    Title :

    MAV attitude determination by vector matching


    Contributors:


    Publication date :

    2008-07-01


    Size :

    3149627 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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