Development of an Integrated Low-Cost GPS/Rate Gyro System for Attitude Determination
Bibliographic record
Abstract
The use of low-cost GPS receivers and antennas for attitude determination can significantly reduce the overall hardware system cost. Compared to the use of high performance GPS receivers, the carrier phase measurements from low-cost equipment are subject to additional carrier phase measurement errors, such as multipath, antenna phase centre variation and noise. These error sources, together with more frequent cycle slip occurrences, severely deteriorate attitude determination availability, reliability and accuracy performance. This paper presents the investigation of a low-cost GPS/gyro integration system for attitude determination. By employing the dead reckoning sensor type, the ambiguity search region can be specifically defined as a small cube to enhance the ambiguity resolution process. A Kalman filter is implemented to fuse the rate gyro data with GPS carrier phase measurements. The quality control system based on innovation sequences is used to identify cycle slip occurrences and incorrect inter-antenna vector solutions. The availability of the integrated system also improves with respect to the GPS standalone system since the attitude parameters can be estimated using the angular rate measurements from rate gyros during GPS outages. The low-cost hardware used to design and test the integrated system consists of CMC Allstar receivers with the OEM AT575-70 antennas and Murata ENV-05D-52 piezoelectric vibrating rate gyroscopes. Tests in the urban area demonstrated that the introduction of rate gyros in a GPS-based attitude determination system not only effectively decreased the noise level in the estimated attitude parameters but coasted the attitude output during GPS outages and also significantly improved the system reliability.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.002 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".