基于磁强计/陀螺的卡尔曼滤波定姿算法

针对基于磁强计的组合导航研究中,须事先确定滚转角这一不足,提出了一种磁强计和MEMS陀螺组合确定姿态的四元数卡尔曼滤波算法。利用陀螺测量的姿态角速率,结合磁强计输出的地磁分量测量值,运用卡尔曼滤波算法对三个姿态角同时进行最优估计,而不需要先验假设。仿真误差分析表明:姿态角解算结果具有较小的误差,且不随时间积累。

Kalman Filtering of Attitude Measurement with Magnetometer and Gyroscope

In the present research of integrated navigation based on magnetometer,it is firstly needed to determine the roll angle.Aiming at the problem,a Kalman filtering algorithm based on magnetometer and MEMS gyroscope was proposed in this paper.By applying angular rate of gyroscope and combing with the rolling angular of the earth magnetic component,the projectile attitude was obtained through Kalman filtering,which estimated three attitude angles simultaneously without any transcendental hypothesis.Error analysi...