“Attitude on a Chip” Single Antenna GPS Attitude (SAGA) E. Glenn Lightsey Associate Professor, Aerospace Engineering The University of Texas at Austin
Problem Autonomous vehicles are undergoing miniaturization Satellites, unmanned aerial vehicles (UAVs), robotics Sensors must be available that provide required information Many sensors are not suited to miniaturization for size, cost, and complexity reasons
A device capable of determining platform attitude pointing to within a few degrees Based on a GPS receiver, it also provides: position, time, and relative solutions Highly suited for vehicle automation Highly suited for miniaturi- zation (could ultimately fit on a single chip and antenna) current working prototype < 2” x 2” x 4” Our invention
Principle of operation GPS signal-to-noise ratio (SNR) measurements, when coupled with an external vector sensor, such as a Three-Axis Magnetometer (TAM), can be used to provide coarse attitude determination accurate to within 5˚ to 10˚. SNR g * (1+cos( )) cos( ) = Â L Â is the antenna boresight vector L is the normalized LOS vector to the GPS satellite is the incident angle of incoming GPS signals, called the antenna off-boresight angle ˆ ˆ
GPS measurement model A quaternion point rotation can be used to relate the nominal antenna boresight vector with the rotated body-fixed vector:  rot = (2q 2 – 1)  k + 2(q  k ) q + 2q 0 ( k × q) The SNR measurement model is the cosine of the angle between this rotated antenna boresight vector and the corresponding GPS line-of-sight vector: G 1 =  rot L = cos( ) Y 1 = ƒ (SNR) ˆ 0
Three-axis magnetometer (TAM) Simulated investigation Truth – 10th order IGRF 2000 model Measurements – 6th order IGRF 1995 model plus 0.3mG measurement noise Spacecraft implementation Honeywell HMC2003 three-axis magnetic sensor Atmel ATmega128 microcontroller interface circuit
Testing results
Formation Autonomy Spacecraft with Thrust, Relnav, Attitude, and Crosslink Two student-built nanosatellites delivered to U.S. Air Force Research Labs Expected launch in 2007 SAGA will fly on two satellites