Velocity-Aided Attitude Estimation for Helicopter Aircraft Using Microelectromechanical System Inertial-Measurement Units
This paper presents an algorithm for velocity-aided attitude estimation for helicopter aircraft using a microelectromechanical system inertial-measurement unit. In general, high- performance gyroscopes are used for estimating the attitude of a helicopter, but this type of sensor is very expensive. W...
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| Format: | Article |
| Language: | English |
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MDPI AG
2016-12-01
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| Series: | Sensors |
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| Online Access: | http://www.mdpi.com/1424-8220/16/12/2102 |
| _version_ | 1818037716954120192 |
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| author | Sang Cheol Lee Sung Kyung Hong |
| author_facet | Sang Cheol Lee Sung Kyung Hong |
| author_sort | Sang Cheol Lee |
| collection | DOAJ |
| description | This paper presents an algorithm for velocity-aided attitude estimation for helicopter aircraft using a microelectromechanical system inertial-measurement unit. In general, high- performance gyroscopes are used for estimating the attitude of a helicopter, but this type of sensor is very expensive. When designing a cost-effective attitude system, attitude can be estimated by fusing a low cost accelerometer and a gyro, but the disadvantage of this method is its relatively low accuracy. The accelerometer output includes a component that occurs primarily as the aircraft turns, as well as the gravitational acceleration. When estimating attitude, the accelerometer measurement terms other than gravitational ones can be considered as disturbances. Therefore, errors increase in accordance with the flight dynamics. The proposed algorithm is designed for using velocity as an aid for high accuracy at low cost. It effectively eliminates the disturbances of accelerometer measurements using the airspeed. The algorithm was verified using helicopter experimental data. The algorithm performance was confirmed through a comparison with an attitude estimate obtained from an attitude heading reference system based on a high accuracy optic gyro, which was employed as core attitude equipment in the helicopter. |
| first_indexed | 2024-12-10T07:31:16Z |
| format | Article |
| id | doaj.art-06bcb4f10391408091724fd27dda6865 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-12-10T07:31:16Z |
| publishDate | 2016-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-06bcb4f10391408091724fd27dda68652022-12-22T01:57:32ZengMDPI AGSensors1424-82202016-12-011612210210.3390/s16122102s16122102Velocity-Aided Attitude Estimation for Helicopter Aircraft Using Microelectromechanical System Inertial-Measurement UnitsSang Cheol Lee0Sung Kyung Hong1Department of Aerospace Engineering, Sejong University, Seoul 143-747, KoreaDepartment of Aerospace Engineering, Sejong University, Seoul 143-747, KoreaThis paper presents an algorithm for velocity-aided attitude estimation for helicopter aircraft using a microelectromechanical system inertial-measurement unit. In general, high- performance gyroscopes are used for estimating the attitude of a helicopter, but this type of sensor is very expensive. When designing a cost-effective attitude system, attitude can be estimated by fusing a low cost accelerometer and a gyro, but the disadvantage of this method is its relatively low accuracy. The accelerometer output includes a component that occurs primarily as the aircraft turns, as well as the gravitational acceleration. When estimating attitude, the accelerometer measurement terms other than gravitational ones can be considered as disturbances. Therefore, errors increase in accordance with the flight dynamics. The proposed algorithm is designed for using velocity as an aid for high accuracy at low cost. It effectively eliminates the disturbances of accelerometer measurements using the airspeed. The algorithm was verified using helicopter experimental data. The algorithm performance was confirmed through a comparison with an attitude estimate obtained from an attitude heading reference system based on a high accuracy optic gyro, which was employed as core attitude equipment in the helicopter.http://www.mdpi.com/1424-8220/16/12/2102microelectromechanical system (MEMS)inertial-measurement unit (IMU)airspeedattitude estimationcomplementary filter |
| spellingShingle | Sang Cheol Lee Sung Kyung Hong Velocity-Aided Attitude Estimation for Helicopter Aircraft Using Microelectromechanical System Inertial-Measurement Units Sensors microelectromechanical system (MEMS) inertial-measurement unit (IMU) airspeed attitude estimation complementary filter |
| title | Velocity-Aided Attitude Estimation for Helicopter Aircraft Using Microelectromechanical System Inertial-Measurement Units |
| title_full | Velocity-Aided Attitude Estimation for Helicopter Aircraft Using Microelectromechanical System Inertial-Measurement Units |
| title_fullStr | Velocity-Aided Attitude Estimation for Helicopter Aircraft Using Microelectromechanical System Inertial-Measurement Units |
| title_full_unstemmed | Velocity-Aided Attitude Estimation for Helicopter Aircraft Using Microelectromechanical System Inertial-Measurement Units |
| title_short | Velocity-Aided Attitude Estimation for Helicopter Aircraft Using Microelectromechanical System Inertial-Measurement Units |
| title_sort | velocity aided attitude estimation for helicopter aircraft using microelectromechanical system inertial measurement units |
| topic | microelectromechanical system (MEMS) inertial-measurement unit (IMU) airspeed attitude estimation complementary filter |
| url | http://www.mdpi.com/1424-8220/16/12/2102 |
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