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Estimation of rotation angles based on GPS data from a UX5 Platform

机译：基于UX5平台的GPS数据估算旋转角度

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摘要

Data integration from INS and GPS sensors is applied in aeronautical navigation as a basic conception for determination of aircraft position. A GPS sensor is used to estimate coordinates (X, Y, Z) and velocity (Vx, Vy, Vz) also in a navigation solution. On the other hand, an INS sensor provides rotation angles (heading, pitch and roll) and acceleration parameters (Ax, Ay, Az). The GPS sensor is preferred to obtain an approximate value of rotation angles. In this paper, the results of studies on determination of heading, pitch and roll angles using GPS technology are presented. For this purpose, GPS data from a single-frequency L1 receiver from a UX5 platform were used. Calculations were executed in the HPR_GPS software, whose source code was written in Scilab 5.4.1 language. The software operation and an algorithm for estimation of heading, pitch, roll angles there is described. The preliminary results of rotation angles from the HPR_GPS software show that heading, pitch and roll values are very similar to raw INS measurements. The mean difference between the GPS data (after Kalman filter operation) and the INS data for the heading angle is equal to 0.32° with a standard deviation of 5.41°, for the pitch angle is equal 4.98° with a standard deviation of 5.06° and for the roll angle is about 0.06° with a standard deviation of 0.69°.
机译：来自INS和GPS传感器的数据集成被应用在航空导航中，作为确定飞机位置的基本概念。 GPS传感器也用于在导航解决方案中估算坐标（X，Y，Z）和速度（Vx，Vy，Vz）。另一方面，INS传感器提供旋转角度（航向，俯仰和横滚）和加速度参数（Ax，Ay，Az）。优选GPS传感器以获得旋转角的近似值。本文介绍了使用GPS技术确定航向，俯仰和横滚角的研究结果。为此，使用了来自UX5平台的单频L1接收器的GPS数据。计算是在HPR_GPS软件中执行的，该软件的源代码使用Scilab 5.4.1语言编写。描述了软件操作和用于估计航向，俯仰，侧倾角的算法。 HPR_GPS软件的旋转角度的初步结果表明，航向，俯仰和横滚值与原始INS测量非常相似。航向角的GPS数据（经过卡尔曼滤波操作后）与INS数据之间的平均差等于0.32°，标准偏差为5.41°，俯仰角等于4.98°，标准偏差为5.06°，侧倾角约为0.06°，标准偏差为0.69°。

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