A SOFTWARE TOOL FOR THE VEHICLES ATTITUDE DETERMINATION BY USING STRAP-DOWN INERTIAL TECHNIQUES

A SOFTWARE TOOL FOR THE VEHICLES ATTITUDE DETERMINATION BY USING STRAP-DOWN INERTIAL TECHNIQUES

Grigorie, T. L.

Full Article:

The paper deals with a software implemented method used to calculate the attitude angles and the direction cosines matrix (local horizontal frame to body frame) of a vehicle starting from the strap-down gyros readings. The tool is based on a dedicated numerical method for the integration of the attitude quaternionic Poisson equation, being realized by using the Matlab/Simulink software. The developed graphical user interfaces call an Sfunction, which implements the numerical method, and allow the user to choose one of the first six orders of the method. Firstly, the theoretical background of the attitude determination is shown, and the equations to be software implemented are extracted in discretized form. Further, the obtained graphical user interfaces are described. Subsequently, the tool validation is performed: 1) in a numerical simulation validation step, the errors for all of the first six orders of the used numerical method are estimated; and 2) in an experimental validation step the tool performances are evaluated. The obtained software tool can be used booth in numerical simulation of a strap-down inertial navigation system, but also in an aircraft postflight debriefing activities, to evaluate the roll, pitch, and yaw, attitude angles.

The paper deals with a software implemented method used to calculate the attitude angles and the direction cosines matrix (local horizontal frame to body frame) of a vehicle starting from the strap-down gyros readings. The tool is based on a dedicated numerical method for the integration of the attitude quaternionic Poisson equation, being realized by using the Matlab/Simulink software. The developed graphical user interfaces call an Sfunction, which implements the numerical method, and allow the user to choose one of the first six orders of the method. Firstly, the theoretical background of the attitude determination is shown, and the equations to be software implemented are extracted in discretized form. Further, the obtained graphical user interfaces are described. Subsequently, the tool validation is performed: 1) in a numerical simulation validation step, the errors for all of the first six orders of the used numerical method are estimated; and 2) in an experimental validation step the tool performances are evaluated. The obtained software tool can be used booth in numerical simulation of a strap-down inertial navigation system, but also in an aircraft postflight debriefing activities, to evaluate the roll, pitch, and yaw, attitude angles.

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DOI: 10.5151/meceng-wccm2012-19228

Referências bibliográficas

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Como citar:

Grigorie, T. L.; "A SOFTWARE TOOL FOR THE VEHICLES ATTITUDE DETERMINATION BY USING STRAP-DOWN INERTIAL TECHNIQUES", p-3194-3205. In: In Proceedings of the 10th World Congress on Computational Mechanics [= Blucher Mechanical Engineering Proceedings, v. 1, n. 1]. São Paulo: Blucher, 2014.
ISSN 23580828, DOI 10.5151/meceng-wccm2012-19228