This report describes the results of accuracy verification test of attitude measurement system using L1 GPS (Global Positioning System) and MEMS (Micro Electronic Mechanical Systems) IMU (Inertial Measurement Unit). Airborne gravity survey is conducted for estimating spatial fluctuation of gravity over a wide area. In an airborne gravity survey, a gravimeter is generally installed into a carrier like an airplane. If the carrier is able to fly with a lower altitude and a slower speed, it might be possible to estimate the spatial change of gravity with higher spatial resolution and accuracy. Therefore, the research using a RC (Remote Controlled) helicopter as the carrier is investigated by some researchers. In airborne gravity survey, it is very important to keep the attitude of gravimeter stable. Therefore, a gravimeter is generally supported by a gimbal system. However, the gimbal system is too heavy to hang from a RC helicopter due to the limitation of its payload. So, a gravimeter with wide dynamic range and a small and light attitude measurement system are required. In this research, we develop a prototype of an attitude measurement system using MEMS IMU and L1 GPS receiver. This system measures raw GPS data, acceleration and angular velocity, and saves them on its flash memory. The measured data is analyzed in a post-processing manner. Attitude estimation program is also developed based on the loose coupling algorithm which is one of the INS/GPS integration algorithms. Field experiments are conducted using the developed system to check whether or not the system can be attached on a RC helicopter and analyzable data can be measured in the field flight test. The results of analyzing the raw data by means of the developed attitude estimation program show that the position and attitude are successfully determined. However, the accuracy of attitude cannot be evaluated because the true angle is never known in such a field experiment. Therefore, we conduct an experiment under perfectly known condition and verify the accuracy of estimated attitude by comparing the estimated result with the known tilt angle. As a result, it is found that the attitude measurement system can estimate the tilt angle with accuracy of 0.1 degree under the experimental condition.
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