Abstract
An attitude estimation system is proposed based on MEMS gyroscopes, accelerometers and GPS appropriate for low-cost vehicular Satcom-On-The-Move (SOTM). The angles are derived from the integration of gyros and the gyro biases are calibrated by accelerometers and GPS. To remove the disturbance caused by maneuvering accelerations, the GPS measured velocity is used to calibrate the accelerometers in the frame of an indirect quaternion Kalman filter, which has the real-time property as the extended Kalman filter and do not need to calculate the Jacobian matrix. Experiment results show that the proposed system can effectively estimate the attitude, and the yaw error is within ±0.1° while the pitch and roll errors are within ±0.5°, which meets the pointing accuracy requirement for SOTM.
Published Version
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