Anish Kaharkar
United Kingdom
Research Article
Carrier-phase GNSS Attitude Determination and Control for Small Unmanned Aerial Vehicle Applications
Author(s): Roberto Sabatini, Anish Kaharkar, Celia Bartel and Tesheen ShaidRoberto Sabatini, Anish Kaharkar, Celia Bartel and Tesheen Shaid
As part of our recent research to assess the potential of low-cost navigation sensors for Unmanned Aerial Vehicle (UAV) applications, we investigated the potential of carrier-phase Global Navigation Satellite System (GNSS) for attitude determination and control of small size UAVs. Recursive optimal estimation algorithms were developed for combining multiple attitude measurements obtained from different observation points (i.e., antenna locations), and their efficiencies were tested in various dynamic conditions. The proposed algorithms converged rapidly and produced the required output even during high dynamics manoeuvres. Results of theoretical performance analysis and simulation activities are presented in this paper, with emphasis on the advantages of the GNSS interferometric approach in UAV applications (i.e., low cost, high data-rate, low volume/weight, low signal processing requ.. View More»
