Accession Number : ADA527621


Title :   Beacon Position and Attitude Navigation Aided by a Magnetometer


Descriptive Note : Final rept. Sep 2007-Aug 2009


Corporate Author : DELAWARE UNIV NEWARK DEPT OF ELECTRICAL AND COMPUTER ENGINEERING


Personal Author(s) : Ma, Xu ; Arce, Gonzalo R


Full Text : http://www.dtic.mil/dtic/tr/fulltext/u2/a527621.pdf


Report Date : Jun 2010


Pagination or Media Count : 38


Abstract : Position and attitude estimations are often prerequisites for numerous applications, such as munition systems, mobile robots, and autonomous vehicles. In this report, a position and attitude parameter estimation algorithm suitable for projectiles and microaerial vehicles is developed. The algorithm uses the Earth's magnetic field and a set of fixed beacons as observation vectors. The magnetic field vector observation is obtained from a magnetometer equipped on the object. In addition, a set of angle of arrival vectors is obtained from N-emitting beacons at known ground positions. The algorithm uses iterative, nonlinear object state estimation based on observation vectors to estimate the position and attitude. Position is estimated using the resection algorithm, and attitude is estimated using a two-dimensional direction of arrival estimation algorithm. The proposed method is demonstrated to provide a full position and attitude solution while satisfying the stringent requirements of low-cost and real-time estimation suitable for gun-launched projectiles.


Descriptors :   *MAGNETOMETERS , *ALGORITHMS , *POSITION(LOCATION) , *PROJECTILES , TWO DIMENSIONAL , OBSERVATION , ROBOTS , ESTIMATES , SOLUTIONS(GENERAL) , NAVIGATION , MOBILE , AMMUNITION , VECTOR ANALYSIS , SELF OPERATION , VEHICLES , NONLINEAR ANALYSIS , ARRIVAL , GUN LAUNCHED , ATTITUDE(INCLINATION) , BEACONS , PARAMETERS , REAL TIME , LOW COSTS , MAGNETIC FIELDS , REQUIREMENTS


Subject Categories : Test Facilities, Equipment and Methods
      Space Navigation and Guidance
      Ammunition and Explosives


Distribution Statement : APPROVED FOR PUBLIC RELEASE