抄録
This paper describes an attitude determination technique for small UAVs (Unmanned Aerial Vehicles). Small UAVs are attracted the attention for effective means of the collecting aerial information. However, there are few practical applications, because the accurate attitude data cannot be obtained due to its small payloads. We propose the attitude determination technique using the multiple single frequency GPS receivers. We install three GPS antennas on the wing of the UAV. We resolve the integer ambiguity of the carrier frequency of GPS observation data using the geometric constrain of the antennas to estimate the attitude of the UAV. In the result of the static test, we conclude the proposed method is effective to estimate the attitude for the small UAV.
