Attitude determination method using single-antenna GPS, Gyro and Magnetometer

In this paper, we propose the attitude estimation algorithm integrating SAGPS (Single Antenna GPS), Gyroscope and Magnetometer. Pseudo-attitude from SAGPS has low output rate and time delay property. And it differs from actual attitude according to flight condition of airplane because it is based on velocity measurements of GPS. We adopted gyroscope and magnetometer to improve attitude accuracy and output rate of the pseudo-attitude. For validation of the algorithm, simulation is performed and flight data of small UAV is post-processed and compared with commercial AHRS.