Solutions to mismodeling errors in GPS-based dynamic attitude determination - (PPT)

摘要

Attitude determination using multiple GPS antennas is an alternative approach besides the use of inertial sensors. EKF with a constant angular rate model can be used for attitude determination if the maneuver of the vehicle is low and the GPS sampling rate is high (>5 Hz). An interacting multiple model approach with the adaptive tuning function of the process noise is proposed. It significantly improves the robustness to the mismodeling error in comparison with the conventional EKF. Also, it can benefit from the dynamic model to a larger extent.