| 一种微捷联惯导系统姿态角最优估计算法研究 |
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| 引用本文： | 刘瑞华. 一种微捷联惯导系统姿态角最优估计算法研究[J]. 系统仿真学报, 2004, 16(1): 142-145 |
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| 作者姓名： | 刘瑞华 |
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| 作者单位： | 中国民航学院空中交通管理学院,天津,300300 |
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| 摘 要： | 回顾了捷联惯导系统姿态角的传统解法,分析了这种算法在基于MEMS-IMU的捷联惯导系统中导致姿态角计算误差过大的基本原因。针对MEMS陀螺具有较大漂移的特点,引入了一种新的基于卡尔曼滤波器的姿态角最优估计算法,并对算法进行了数值仿真。结果表明,该方法能极大提高姿态角的计算精度。
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| 关 键 词： | 捷联惯导系统 姿态角 微机电系统 惯性测量元件 最优估计 |
| 文章编号： | 1004-731X(2004)01-0142-04 |
| 修稿时间： | 2002-11-20 |
The Optimal Attitude Estimation Algorithm for a Minimal SINS |
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| LIU Rui-hua. The Optimal Attitude Estimation Algorithm for a Minimal SINS[J]. Journal of System Simulation, 2004, 16(1): 142-145 |
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| Authors: | LIU Rui-hua |
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| Abstract: | The traditional attitude algorithm of the MEMS-IMU based Strap-down Inertial Navigation System is briefly reviewed and its shortcoming for the attitude error is discussed in this article. According to the large drift error of the MEMS gyroscope, a new optimal estimate attitude algorithm based on the Kalman Filter is developed in this paper, and the numerical simulation is then carried out. The result shows that the new method can greatly improve the attitude calculation. |
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| Keywords: | strap-down inertial navigation system attitude angle micro electronic mechanical system inertial measurement unit optimal estimation |
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