Hostname: page-component-76fb5796d-45l2p Total loading time: 0 Render date: 2024-04-25T13:28:30.712Z Has data issue: false hasContentIssue false
  • English
  • Français

Verification of a Real-Time Attitude Determination Algorithm through Development of 48-Channel GPS Attitude Receiver Hardware

Published online by Cambridge University Press:  15 June 2009

Jaegyu Jang  and
Changdon Kee
Jaegyu Jang*
Affiliation:
(School of Mechanical and Aerospace Engineering, Seoul National University)
Changdon Kee
Affiliation:
(School of Mechanical and Aerospace Engineering, Seoul National University)
*
(Email: zang@snu.ac.kr)
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper describes the verification of a real-time attitude determination algorithm during GPS attitude receiver hardware development. The GPS attitude receiver of 24 channels had been already developed in Surrey University. However 24 channels were not enough for practical usage. For this reason, a 48-channel attitude receiver with 12 channels for each antenna has been developed. To estimate attitude in real time, precise relative positions of the GPS antenna array have to be determined as rapidly as possible. However, the calculation load based on the conventional algorithm is too burdensome to perform using the RISC microprocessor. Therefore, in this paper, the cycle ambiguities of each base vector are resolved using SNUGLAD (Seoul Nat Univ GNSS Lab Attitude Determination), the design focus of which is to allow the receiver to estimate the 10 Hz onboard solutions. To keep precise solutions continuously, after ambiguity removal, cycle slip must be detected or isolated. Otherwise, the receiver would output erroneous solutions after a short signal blockage or fading of the GPS signal. To prevent this, we defined the cycle slip detection and repair scheme using a standard extended Kalman filter, which can detect and repair cycle slip within one cycle. As a result, this paper shows that time synchronized measurement with good quality and a reliable solution can be provided by the hardware developed with inexpensive chipsets and that this may be a possible cost efficient sensor for UAV or microsatellites.

Keywords

Attitude receiverGPSCycle slipAttitude determination
Type
Research Article
Information
The Journal of Navigation , Volume 62 , Issue 3 , July 2009 , pp. 397 - 410
Copyright
Copyright © The Royal Institute of Navigation 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

Brown, R. G. and Hwang, P. Y. C. (1997). Introduction to Random Signals and Applied Kalman Filtering, third edition, John Wiley & Sons, New York.Google Scholar
GEC Plessey Semiconductors. (1997). GPS Architect Software Design Manual, DM000066. Issue 1, GPS Architect V6.12, December.Google Scholar
Hatch, R. (1990). Instantaneous Ambiguity Resolution. Proceedings of KIS Symposium, Banff, Canada, September.Google Scholar
Jang, J., Lee, S. and Kee, C. (2004). Performance Enhancement of Attitude Determination System by Combining Single and Multiple Antennas. Proceedings of ION GNSS2004, Long Beach, CA.Google Scholar
Jang, J. and Kee, C. (2006). Flight Test of Attitude Determination System using Multiple GPS Antennae. The Journal of Navigation, 59, 119–133.CrossRefGoogle Scholar
Kee, C., Jang, J. and Sohn, Y. (2005). Efficient Attitude Determination Using GPS Multiple Antennas; Geometrical Concept. Transactions of the Japan Society for Aeronautical and Space Sciences, 47, No. 158, February.CrossRefGoogle Scholar
Kee, C., Kim, D. and Jang, J. (2007). Efficient Ambiguity Search Technique Using Separated Gaussian Variable. The Journal of Navigation, 60, No. 1, Jan., 147–157.CrossRefGoogle Scholar
Leick, A. (1995). GPS Satellite Surveying, second edition, Wiley-Interscience.Google Scholar
Park, C. (1996). Attitude Determination from GPS Carrier Phase Measurements. PhD thesis, Seoul National University, Feb.Google Scholar
Purivigraipong, S., Unwin, M. J. and Hashida, Y. (2000). Demonstrating GPS attitude determination from UoSat-12 Flight Data, ION GPS 2000, Salt Lake City, UT, 19–22 September.Google Scholar
Samsung Electronics. (2003). User's Manual, S3C2410X 32-Bit RISC Microprocessor, Rev. 1.2.Google Scholar
Teunissen, P. J. G. and Kleusberg, A. (1998). GPS for Geodesy, Springer, Germany.CrossRefGoogle Scholar
Urhan, H., Hodgart, M. S., Gleason, S. and Unwin, M. J. (2003). Instantaneous Attitude Determination of a LEO Satellite by GPS Using Direct Orthogonalisation. ION GPS/GNSS 2003, Portland, OR, 9–12 September.Google Scholar
Wang, C. (2003). Development of a Low-cost GPS-based Attitude Determination System. MSc thesis.Google Scholar
Wang, C., Lachapelle, G. and Cannon, M. E. (2004). Development of an Integrated Low-Cost GPS/Rate Gyro System for Attitude Determination. The Journal of Navigation, 57, 85–101.CrossRefGoogle Scholar
University of Calgary, June.Google Scholar
Zarlink Semiconductor. (2001). GP2021 Datasheet, DS4077. Issue 3.2, April.Google Scholar
Zarlink Semiconductor. (2002). GP2015 Datasheet, DS4374. Issue 3.1, Feb.Google Scholar