caa a22 4500 60616233X CHVBK 20210128100638.0 cr unu---uuuuu 210128e20150701xx s 000 0 eng 10.1007/s10291-014-0391-7 doi (NATIONALLICENCE)springer-10.1007/s10291-014-0391-7 Attitude estimation method for small UAV under accelerative environment [Elektronische Daten] [Heekwon No, Am Cho, Changdon Kee] An attitude estimation method which is robust for accelerative environment and applicable to small unmanned aerial vehicle (UAV) using low-cost gyroscope, magnetometer and global positioning system (GPS) receiver is developed. The accelerometer, which is essentially used for attitude heading reference system degrades the accuracy of estimated attitude when the UAV is under accelerative maneuver. For this reason, the accelerometer is excluded from the proposed method. On the other hand, pseudo-attitude, which is estimated from velocity measurement of the GPS receiver is easy to implement and provides stable attitude information for long term. However, it has low-rated output, time lag and deviation from true attitude. In order to complement the deviation of pseudo-attitude, magnetic-pitch angle determination method, which extracts the pitch angle information from magnetic vector in addition to yaw angle is developed in this study. Moreover, the time lag of pseudo-attitude is modeled using error of pseudo-attitude and time constant. Using this model, the time lag of pseudo-attitude is effectively compensated without large memory or computational load. Finally, the pseudo-attitude, magnetic-attitude and gyroscope measurement are fused based on Euler angle. As a result, an attitude which is high-rated and robust against acceleration is achieved. The proposed method is verified through both of the simulation and flight test. The results show that the proposed method maintains stable attitude accuracy even if the aircraft experiences sudden or continuous acceleration. Springer-Verlag Berlin Heidelberg, 2014 Attitude estimation nationallicence Global positioning system (GPS) nationallicence Magnetometer nationallicence Acceleration nationallicence Unmanned aerial vehicle (UAV) nationallicence No Heekwon School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University, 1 Gwanak-ro, Gwanak-gu, 151-742, Seoul, Korea aut Cho Am Korea Aerospace Research Institute, 169-84 Gwahak-ro, Yuseong-gu, 305-806, Daejeon, Korea aut Kee Changdon School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University, 1 Gwanak-ro, Gwanak-gu, 151-742, Seoul, Korea aut GPS Solutions Springer Berlin Heidelberg 19/3(2015-07-01), 343-355 1080-5370 19:3<343 2015 19 10291 https://doi.org/10.1007/s10291-014-0391-7 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s10291-014-0391-7 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- No Heekwon School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University, 1 Gwanak-ro, Gwanak-gu, 151-742, Seoul, Korea aut NATIONALLICENCE 700 1- Cho Am Korea Aerospace Research Institute, 169-84 Gwahak-ro, Yuseong-gu, 305-806, Daejeon, Korea aut NATIONALLICENCE 700 1- Kee Changdon School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University, 1 Gwanak-ro, Gwanak-gu, 151-742, Seoul, Korea aut NATIONALLICENCE 773 0- GPS Solutions Springer Berlin Heidelberg 19/3(2015-07-01), 343-355 1080-5370 19:3<343 2015 19 10291