MEMS航向传感器在小型无人机上的补偿算法

根据航向传感器在无人机上的安装位置，介绍了两种航向补偿算法，即航向传感器水平安装时改进的霍尼韦尔补偿算法和航向传感器非水平安装时改进的椭球拟合补偿算法。根据这两种算法，进行了无人机的地面静止补偿实验和飞行试验。通过输出的航向传感器数据与高精度惯导数据进行对比，验证了不同安装位置采用的不同的补偿算法都可实现航向的高精度补偿。

Compensation Algorithm of MEMS Heading Sensor on Small UAV

According to installation position of the heading sensor on the UAV,two kinds of heading compensation algorithms are introduced,namely the improved Honeywell compensation algorithm for the horizontal installation of the heading sensor and the improved ellipsoid fitting compensation algorithm for the non-horizontal installation of the heading sensor.According to these two compensation algorithms,the ground static compensation experiment and flight experiment are progressed.By comparing the output data of heading sensor with the high precision inertial guidance data,it is validated that these two different compensation algorithms for different installation positions can also realize the high accuracy heading compensations of heading sensor.