Reliability Improvement for Low-Cost Attitude Sensing Using Redundant Calculations
- Resource Type
- Authors
- Mark Ilg; Bor-Chin Chang
- Source
- AIAA Guidance, Navigation and Control Conference and Exhibit.
- Subject
- Sensor system
Microelectromechanical systems
Engineering
Magnetometer
business.industry
Iterative method
ComputerApplications_COMPUTERSINOTHERSYSTEMS
Accelerometer
law.invention
Euler angles
symbols.namesake
law
Control theory
symbols
business
Rotation (mathematics)
Reliability (statistics)
- Language
Determination of attitude or Euler angles is essential in monitor and control of the ight of aerial vehicles like aircraft, missiles, rockets, UAVs, and ying munitions. The paper considers a low-cost small-size sensor system consisting of a 3-axis MEMS accelerometers and a 3-axis AMR magnetometers. A computational algorithm is proposed to improve sensor system reliability. The iterative algorithm based on Newton-Raphson’s search scheme computes the rotation angles in multiple ways using dierent subset of sensors. Simulations and real-time hardware-in-the-loop experiments are used to demonstrate how to detect the failed or contaminated sensors and how to determine the Euler angles using the healthy sensors.