ATTITUDE DETERMINATION USING DISTANCES MEASUREMENTS

Authors

  • L. M. Ryzhkov National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”

DOI:

https://doi.org/10.18372/1990-5548.61.14209

Keywords:

distance, attitude, determination

Abstract

The attitude determination based on measuring the distances between points of the body and reference points (beacons) is analyzed. The conditions for choosing these points are determined. In the analysis, the matrix method and the least squares method were used. As part of the problem, a positioning problem of independent significance has been solved. The influence of distance measurement errors on the accuracy of determining the orientation is investigated. The proposed form of the loss function allows us to simplify the expression for the matrix of directional cosines and, thereby, perform an analytical analysis of errors. It is shown that for small errors, their influence on the accuracy of determining orientation angles can be characterized by an additional rotation of the coordinate system associated with the body. Theoretical and numerical analysis showed that the accuracy of determining the orientation can be significantly increased by increasing the number of measurements.

Author Biography

L. M. Ryzhkov, National Technical University of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”

The Institute of Mechanical Engineering

Doctor of Engineering Sciences. Professor

References

F. C. Park, Junggon Kim, and Changdon Kee, “Geometric Descent Algorithms for Attitude Determination Using Global Position System,” Journal of Guidance, Control and Dynamics, vol. 23, no. 1, pp. 26–33, 2000.

L. M. Ryzhkov and O. V. Prokhorchuk, “Attitude determination using global positioning system,” Electronics and Control Systems. no. 4(54), pp. 45–49, 2017. DOI: 10.18372/1990-5548.54.12314, ISSN: 1990-5548.

S. B. Kim, C. Park, D.-Y. Kang, H. H. Yun, B.-C. Ahn, E. J. Cha, and S. J. Lee, “An Efficient Positioning Algorithm using Ultrasound and RF,” International Journal of Control, Automation, and Systems, vol. 6, no. 4, pp. 544-550, August 2008.

L. M. Ryzhkov and D. I. Stepurenko, “Use of least square criterion in TRIAD algorithm,” Electronics and Control Systems, no. 4(34), pp. 159–164, 2012. ISSN: 1990-5548.

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Issue

Vol. 3 No. 61 (2019)

Section

AUTOMATIC CONTROL SYSTEMS

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