롤회전 비행체의 GPS 기반 롤 자세 추정 기법

초록

This paper addresses a method to estimate roll angle of a rolling airframe using a GPS and a 1-axis rate gyro. The proposed method is based on the principle that the GPS signal is maximized when the GPS antenna towards the GPS satellite. Under the assumption that the body axis is coincident with the velocity, the roll angle can be calculated from the direction vector from the airframe to the GPS satellite, because the LLA positions of the airframe and the satellite are known. The Performance of the proposed method is experimentally verified using the testing device made for its own purpose.