What is it about?

The scheme of "single antenna GPS + MEMS IMU" is chosen for attitude estimation. In order to reduce costs of MEMS IMU, small size, low cost MEMS inertial sensors are used for attitude determination.

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Why is it important?

1). The combined fusion methodology with adaptive Kalman filer 2). The control strategies of different measurements considering sensor failure are adopted to solve the lack of observability of yaw angle. 3). The adaptive gain scale is adjusted by the fuzzy controller to compensate the uncertainty of measurement and process noise. Furthermore, besides measurements from accelerometer, GPS-measured heading angle as the measured yaw angle for micro IMU/GPS system are afforded as the measurement to enhance the observability in normal driving condition. 4). The methodology of“sensor data fusion+kalman filter”is implemented in an independently development DSP/FPGA prototype, which is used to run the real time algorithms on the measurement data.


The article would provide the reliable solution of attitude determination using low cost MEMS sensors. Corresponding techniques could be used for micro navigation system in in both commercialproducts and defence.

Lei Wang
Shenyang Ligong University

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This page is a summary of: Attitude Determination Method by Fusing Single Antenna GPS and Low Cost MEMS Sensors Using Intelligent Kalman Filter Algorithm, Mathematical Problems in Engineering, January 2017, Hindawi Publishing Corporation,
DOI: 10.1155/2017/4517673.
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