测控技术2013，Vol.32Issue(6)：4-8,5.
自主姿态测量算法研究
Study on the Algorithm of Independent Attitude Measurement
袁涛 1郭峻言 2苑艳华 3田艳辉4
作者信息
- 1. 海军航空工程学院青岛校区,山东青岛266041
- 2. 河南大学计算机与信息工程学院,河南开封475004
- 3. 北京青云航空仪表有限公司,北京100086
- 4. 河南大学教育科学学院,河南开封475004
- 折叠
摘要
Abstract
In attitude and heading reference system(AHRS),the velocity and position information cannot be calculated in real time,the errors caused by the rotation and apparent motion of the earth are unable to be compensated effectively.In that case,the drift error of the gyro is accumulated continuously.Therefore,there are the low precision even divergence problems for the heading and attitude information during a long time flight.A fusion algorithm for attitude determination based on Kalman filter is proposed.The gyro bias is used as the Kalman state vector,motion state of the carrier is judged by innovations of the Kalman filter,outputs of accelerometer are used as observations to carry out the update process of the Kaman filter measurement.The results of experimentation verify that this fusion algorithm based on Kalman filter is capable to improve the attitude accuracy of the system with consideration of the gyro drift.关键词
航姿系统/姿态计算/卡尔曼滤波/飞行状态Key words
AHRS/ attitude calculation/ Kalman filter/ flight states分类
交通工程引用本文复制引用
袁涛,郭峻言,苑艳华,田艳辉..自主姿态测量算法研究[J].测控技术,2013,32(6):4-8,5.
