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针对低精度陀螺仪、加速度计和磁传感器组成的捷联航姿系统存在的易受载体运动加速度影响而导致姿态精度下降甚至发散的问题进行了研究,提出了一种基于机动检测的捷联航姿算法。该算法根据陀螺仪数据进行姿态实时更新,利用加速度计和磁传感器输出对载体姿态误差进行校正以保持航姿输出的长期精度。算法根据加速度计输出在导航系中投影的水平分量进行机动检测,剔除机动期间的加速度数据,利用载体匀速运动状态下的加速度数据与磁传感器数据构造量测,利用卡尔曼滤波器对姿态误差进行估计并修正。仿真结果表明,该算法能有效完成载体机动检测,保证系统存在机动的情况下姿态精度满足应用要求。
Aiming at the problem of low accuracy gyro, accelerometer and magnetic sensor strapdown attitude and heading system which is easy to be influenced by the acceleration of carrier motion, the attitude accuracy is reduced or even diverged. A new method based on maneuver detection, Pose algorithm. The algorithm performs real-time attitude updating based on gyroscope data, and uses the accelerometer and magnetic sensor output to correct the attitude error of the carrier to maintain the long-term accuracy of attitude output. The algorithm detects the horizontal component of the projection in the navigation system based on the accelerometer output, removes the acceleration data during maneuvering, and uses the acceleration data and the magnetic sensor data to construct the measurement under uniform motion of the carrier. The Kalman filter is used to measure the attitude error Estimate and correct. The simulation results show that this algorithm can effectively accomplish the maneuvering detection of the carrier and ensure the accuracy of the attitude to meet the application requirements under the condition of maneuvering of the system.