基于卡尔曼滤波器的航姿系统测姿算法研究

航姿系统通常没有载体位置信息和速度信息的解算,且陀螺漂移较大,存在着载体持续机动时姿态精度不高,甚至消失的问题,因此通常的导航算法已不再适用.设计了一种基于卡尔曼滤波技术的姿态算法,用重力加速度在机体系的分量gb和陀螺漂移作为待估计的状态量,进行卡尔曼滤波的时间更新过程,利用加速度计的输出在一定条件下作为观测量,进行卡...

Attitude Algorithm design of AHRS based on Kalman filter

AHRS does ’ t calculate position and speed information of a gyro commonly at the same time.The drift of AHRS ’ s gyros is rather big.When carrier maneuvers for a long time,the problem that attitude performance descends and even exhales will appear.Common navigation algorithms are no longer applicable.Kalman state Vector contains sensing components of the earth gravity in the body frame gb and gyros ’ s drift,at the same time.By using the accelerometer information to carry out the measure of updating process.Simulation results show that attitude accuracy of the algorithm can satisfy the application demand in mobile and static status of the carrier.