测控技术2012，Vol.31Issue(5)：37-40,48,5.
基于机动检测的捷联航姿算法研究
Research on Algorithm for Strapdown Attitude Heading Reference System Based on Maneuver Detection
辛格 1李四海 1苑艳华1
作者信息
- 1. 西北工业大学自动化学院,陕西 西安 710129
- 折叠
摘要
Abstract
The problem that attitude accuracy declines even diverges on the attitude heading reference system (AHRS) is investigated, which consists of low precision gyros, accelerometers and magnetometers. It is influenced by the acceleration of the moving carriers, and a AHRS algorithm based on maneuver detection is presented. The algorithm uses the output of gyros to update the attitude, and the output of accelerometers and magnetometers to adjust the attitude error for guaranteeing long-time precision. Algorithm uses the horizontal component of accelerometers, which are projected to navigation coordinate for maneuver detection. Then the ones during maneuver are eliminated. According to the output data of the accelerometers and the magnetometers under the condition of uniform motion, the measurement of the Kalman filter is made to rectify the attitude error. The simulation results show that the method is valid for maneuver detection. Furthermore, it can ensure the system attitude accuracy meet the application requirements of maneuver carriers.关键词
航姿系统/机动检测/卡尔曼滤波/磁传感器Key words
AHRS/ maneuver detecting/ Kalman filter/ magnetometer分类
交通工程引用本文复制引用
辛格,李四海,苑艳华..基于机动检测的捷联航姿算法研究[J].测控技术,2012,31(5):37-40,48,5.
