捷联惯导互补滤波姿态融合算法设计

为了满足低成本、高性能的载体测姿需求，针对MEMS器件漂移导致载体姿态无法准确测量的问题，提出了一种基于方向余弦矩阵（DCM）更新的多轴显式互补滤波载体姿态估计算法。利用陀螺仪和辅助传感器的噪声所处频段互补的特点，运用互补滤波进行信息融合，发挥各个传感器的优点，提升系统的姿态测量精度。分别以三轴转台与实验车辆为验证平台，设计了静态与动态实验。实验结果表明，该姿态融合算法能够稳定输出高精度的姿态信息，抑制陀螺漂移导致的姿态发散，有效提高载体姿态的测量精度，满足捷联惯导系统的测姿需求。

Design of attitude fusion algorithm based on complementary filter for low-cost strapdown inertial navigation

In order to meet the requirements of low cost and high performance attitude estimation, an multi-axial explicit complementary algorithm for attitude estimation of carrier based on directional cosine matrix updating (DCM) is proposed. The algorithm solved the problem that carrier attitude cannot be accurately measured due to the device drift. The characteristics of the noise from the sensor which used for information fusion are mutually complementary in frequency band. This algorithm give full play to the advantages of each sensor and improve the precision of attitude estimation of the system.Static and dynamic experiments were designed on the platform of three-axis turntable and experimental vehicle respectively. Experimental results show that the proposed attitude fusion algorithm can output high precision attitude information stably. It can suppress attitude divergence which caused by gyroscope drift and improve the estimation accuracy of attitude effectively. In summary, the proposed attitude fusion algorithm meet the requirement of attitude estimation for low cost strapdown inertial navigation system.