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<p>Vehicular attitude can be estimated using micro-electro-mechanical systems (MEMS) based magnetic, angular rate, and gravity (MARG) sensors or global navigation satellite systems (GNSS). In challenging environments external accelerations, magnetic distortions, and failure of GNSS will result in significant attitude estimation errors. We proposed a hybrid attitude estimation algorithm based on the low-cost dual-antenna GNSS/MEMS MARG sensor integration, in which the two GNSS antennas are connected to two separate low-cost receivers. Heading and pitch angles are obtained from the moving baseline spanned by the two antennas. An error state Kalman filter is built for data fusion, the filter shares the identical kinematic model but switches the measurement model according to the valid aiding sources. Six possible measurement update schemes are conditioned on the availability of GNSS-derived angles and the disturbances detected in the MARG sensor data. The accuracy degradation of attitude estimation caused by disturbances is alleviated by adjusting the measurement covariance matrix adaptively. A land vehicle-based dynamic experiment was performed to assess the proposed algorithm. Compared to the MARG sensor alone method, the root mean square errors of the proposed GNSS/MARG sensor integrated method were reduced by 38.9%, 65.8%, and 45.6% in the roll, pitch, and yaw angles, respectively.</p>

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Attitude estimation in challenging environments by integrating low-cost dual-antenna GNSS and MEMS MARG sensor

  • 期刊论文

  • 发表日期：

    2025年1月7日

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  • Wei Ding,
  • Wei Sun,
  • Huifang Yan,
  • Yang Jiang,
  • Yang Gao

摘要

Vehicular attitude can be estimated using micro-electro-mechanical systems (MEMS) based magnetic, angular rate, and gravity (MARG) sensors or global navigation satellite systems (GNSS). In challenging environments external accelerations, magnetic distortions, and failure of GNSS will result in significant attitude estimation errors. We proposed a hybrid attitude estimation algorithm based on the low-cost dual-antenna GNSS/MEMS MARG sensor integration, in which the two GNSS antennas are connected to two separate low-cost receivers. Heading and pitch angles are obtained from the moving baseline spanned by the two antennas. An error state Kalman filter is built for data fusion, the filter shares the identical kinematic model but switches the measurement model according to the valid aiding sources. Six possible measurement update schemes are conditioned on the availability of GNSS-derived angles and the disturbances detected in the MARG sensor data. The accuracy degradation of attitude estimation caused by disturbances is alleviated by adjusting the measurement covariance matrix adaptively. A land vehicle-based dynamic experiment was performed to assess the proposed algorithm. Compared to the MARG sensor alone method, the root mean square errors of the proposed GNSS/MARG sensor integrated method were reduced by 38.9%, 65.8%, and 45.6% in the roll, pitch, and yaw angles, respectively.