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EVALUATION OF THE FLIGHT ATTITUDE WITH A LOW-COST GYRO IMU IN A REDUNDANT CONFIGURATION

Teodor Lucian Grigorie

Abstract

The paper presents a way to increase the performance of inertial systems used to determine the aerospace vehicles' attitude based on low-cost MEMS gyro sensors. A vital role in the design process of the inertial navigation system is played by sensors distribution inside the inertial detection unit. This distribution can be different from case to case depending on the type of sensors or the signal processing algorithm used. The novelty of the proposed system consists in the using on each axis of the navigator inertial detection unit of linear redundant networks of miniaturized sensors whose data are statistically fused. This solution allows a high level of performance at a low cost and also the redundancy of the system by using a high number of sensors on each axis. The architecture chosen for this paper is one that has three sensors on each axis, and the method used for the fusion of the signals coming from the sensors is MRC ? Maximal Ratio Combining. In order to determine the attitude angles (roll, pitch, yaw), the fused signals processing is done with a dedicated quaternionic method. The evaluation of the proposed architecture performance is accomplished through software implementation of the mathematical model using the Matlab-Simulink software package, followed by numerical simulations, which highlight the differences compared to the classical (non-redundant) architecture. For the simulations, two testing scenarios were conducted. One in which the gyros were low-cost MEMS, with poor performance, and one in which the gyros were high performance laser sensors, with a high-cost per unit.

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DOI resolver: doi.org/10.5593/sgem2019/2.2/s09.015

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