基于卡尔曼滤波的航姿参考系统设计

针对传统的航姿参考系统AHRS（Attitude and Heading Reference System）中姿态角精度不高的问题，设计了一种新型的基于卡尔曼滤波的姿态检测系统。该系统采用了三轴磁传感器、三轴陀螺仪及三轴加速度计，用四元数的方法来描述载体运动的姿态，通过陀螺仪测姿态四元数，卡尔曼滤波算法融合加速度计和磁传感器数据，对姿态四元数进行修正，从而提高姿态解算精度。实验数据表明，系统能够较好修正陀螺仪漂移，且三个角度的均方根误差均优于0.25°，具有良好的噪声抑制能力。

Design of AHRS based on Kalman filter

A new attitude detecting system based on Kalman filter is designed for the problem of low precision of atti?tude angle in the tradition Attitude and Heading Reference System(AHRS). Three-axis magnetic sensor,three-axis ac?celerometer and three-axis gyroscope are integrated in the system. An attitude estimation method based on quaternion is adopted to describe the attitude of carrier. Attitude quaternion is calculated by the gyroscope,and the data of accel?erometer and magnetic are fused by Kalman filter to fix quaternion and improve the accuracy of attitude. The experi?mental data shown that the system could compensate the drift error of gyroscope better,the root mean square error of both three angles wrer better than 0.25°,and the ability of noise reduction was better than the tradition AHRS.