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首页> 外文学位 >Two dimensional rate gyro bias estimation for precise pitch and roll attitude determination utilizing a dual arc accelerometer array.
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Two dimensional rate gyro bias estimation for precise pitch and roll attitude determination utilizing a dual arc accelerometer array.

机译：二维速率陀螺仪偏置估计，用于利用双弧加速度计阵列精确确定俯仰和侧倾姿态。

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摘要

In this thesis, a previously developed, novel one-dimensional attitude estimation device is expanded through the development and implementation of an innovative method for estimation of two-dimensional attitude making use of a unique low-cost, dual arc accelerometer array measuring longitudinal and transverse rotational rates in real-time. The device and method proposed is an expansion of a previously developed method for one-dimensional attitude determination and rate gyro bias estimation utilizing a one-dimensional accelerometer array. This new revolutionary device utilizes a dual arc accelerometer array and an algorithm for accurate and reliable two-dimensional attitude determination and rate gyro bias estimation in real-time. The method determines the local gravitational field vector from which attitude information can be resolved. Upon determining the location of the local gravitational field vector relative to two consecutive accelerometer sensors, the orientation of the device may then be estimated and the attitude determined. However, this measurement is discrete in nature; therefore, integrated rate gyro measurements are used to determine attitude information resulting in a continuous signal. However, attitude estimates and measurements produced by instantaneous rate sensors and gyroscope integration tend to drift over time due to drift and bias inherent to the rate gyro sensor. The integration of the acquired instantaneous rate signals amplify measurement errors leading to an undependable and imprecise estimate of the vehicles true attitude and orientation. A method for compensation of these errors is proposed in this work resulting in a highly accurate and continuous attitude estimate. For this thesis, simulations of the proposed method and device will be conducted with the inclusion of characteristic, real-world sensor noise and bias estimates produced from corrupted and biased sensors to analyze and assess the feasibility and validity of the proposed method and system configuration for two-dimensional attitude determination. The end goal of this work is to produce a precise and reliable longitudinal and transverse attitude estimation array capable of measuring rate senor and gyro bias online so as to produce highly accurate and reliable pitch and roll angle tracking in real-time while under subjection to simulated flight conditions and scenarios. While this thesis is an expansion of a previously developed device and method, it is a departure from past works in that a new, two-dimensional accelerometer array arc is utilized and additional rotational dimensions are being included in the simulated analysis.
机译：在本文中，通过开发和实现一种新颖的二维姿态估计方法，该方法使用了独特的低成本纵向和横向双弧加速度计阵列，从而扩展了先前开发的新型一维姿态估计设备实时旋转速率。提出的设备和方法是先前开发的用于利用一维加速度计阵列进行一维姿态确定和速率陀螺仪偏差估计的方法的扩展。这种新的革命性设备利用了双电弧加速度计阵列和一种算法，可以实时进行准确，可靠的二维姿态确定和速率陀螺仪偏差估计。该方法确定可以从中解析出姿态信息的局部重力场矢量。在确定局部重力场矢量相对于两个连续的加速度计传感器的位置时，然后可以估计设备的方向并确定姿态。但是，这种测量本质上是离散的。因此，综合速率陀螺仪测量结果用于确定产生连续信号的姿态信息。然而，由于速率陀螺仪传感器固有的漂移和偏差，由瞬时速率传感器和陀螺仪集成产生的姿态估计和测量结果倾向于随时间漂移。所获取的瞬时速率信号的积分会放大测量误差，从而导致对车辆真实姿态和方向的不确定和不精确的估计。在这项工作中提出了一种用于补偿这些误差的方法，从而可以实现高度准确和连续的姿态估计。对于本论文，将对所提出的方法和设备进行仿真，包括特征，真实世界中的传感器噪声以及由损坏和有偏差的传感器产生的偏差估计，以分析和评估所提出的方法和系统配置的可行性和有效性。二维态度确定。这项工作的最终目的是生产一种精确可靠的纵向和横向姿态估计阵列，该阵列能够在线测量速率传感器和陀螺仪偏置，从而在进行模拟的同时实时产生高度准确和可靠的俯仰和侧倾角跟踪飞行条件和情景。尽管本文是对先前开发的设备和方法的扩展，但它与以往的工作有所不同，因为它利用了新的二维加速度计阵列弧，并且在模拟分析中包括了额外的旋转尺寸。

著录项

  • 作者

    Scorse, William T.;

  • 作者单位

    Rochester Institute of Technology.;

  • 授予单位 Rochester Institute of Technology.;
  • 学科 Engineering Aerospace.;Engineering Mechanical.
  • 学位 M.S.
  • 年度 2011
  • 页码 304 p.
  • 总页数 304
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 公共建筑;
  • 关键词

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