Square-Root Divided Difference Attitude Filter for SOTM Using Low Cost Sensors

Abstract

In order to isolate the antenna pointing from disturbance of vehicle, an attitude stabilization method based on the MEMS inertial sensors and single baseline GPS is studied. Taking quaternion and drift of gyroscopes as state vector, a square-root DDF is used to combine the information from the inertial sensors with the heading attitude information derived from GPS. Aiming to different update frequency between accelerometers and GPS, two measurement equations with two different update frequencies are chosen. Then, with the estimated attitude information, a strap-down stabilization method for angular position is used to isolate disturbance of vehicle. The results show that DDF achieves good estimation accuracy, which can meet the demand for the attitude stabilization of mobile communication.