Inertially aided GPS based attitude heading reference system (AHRS) for general aviation aircraft

Roger C. Hayward, Demoz Gebre-Egziabher, Matt Schwall, J. David Powell, John Wilson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

42 Scopus citations

Abstract

GPS was used with ultra-short baselines (2-3 carrier wavelengths) in a triple antenna configuration to obtain attitude for General Aviation (GA) aircraft. Through algorithm selection and error source calibration, accuracies of 0.1°, 0.15° and 0.2° rms were obtained for pitch roll and yaw respectively. The accuracy and robustness of the system was enhanced by combining the ultra short-baseline GPS attitude solution with an attitude solution derived using inexpensive automotive grade rate gyros. The solid state gyros allow coasting through temporary GPS outages lasting 2 minutes with attitude errors less than 6 degrees. The combined GPS-inertial system has a 20 Hz output sufficient to drive glass cockpit type displays. A prototype system was built and flight tested in a Beechcraft Queen Air. The system installed and flight tested in the Queen Air compares favorably to the performance of the existing vacuum driven instruments. It is currently being used in ongoing research at Stanford with futuristic high resolution displays.

Original languageEnglish (US)
Title of host publicationProceedings of ION GPS
Editors Anon
PublisherInst of Navigation
Pages289-298
Number of pages10
Volume1
StatePublished - Dec 1 1997
EventProceedings of the 1997 10th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GPS-97. Part 1 (of 2) - Kansas City, MO, USA
Duration: Sep 16 1997Sep 19 1997

Other

OtherProceedings of the 1997 10th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GPS-97. Part 1 (of 2)
CityKansas City, MO, USA
Period9/16/979/19/97

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