【摘要】 设计一种基于MEMS陀螺、加速度计、磁强计以及GPS模块姿态航向位置参考系统(AHPRS).首先,姿态航向参考系统主要由姿态估计卡尔曼滤波器与补偿卡尔曼滤波器构成,通过补偿滤波器周期修正姿态估计滤波器,从而弥补了由于机体的刚体运动而导致姿态角的估计误差;其次,采用分散式卡尔曼滤波器的设计思路,以估计的误差姿态角作为导航系统卡尔曼滤波器的输入量,有效降低了导航滤波方程的阶次,减小了对姿态解算计算机的性能要求;最后,通过仿真与飞行试验验证该AHPRS有效地克服了动态环境下对系统姿态估计偏差大的缺点,提高了系统的姿态航向与速度位置估计精度.更多还原

【Abstract】 An attitude heading and position reference system(AHPRS)was constructed based on MEMS gyroscope,accelerometer,magnetometer and GPS receiver in this paper.Firstly,the attitude and heading reference system was composed of attitude estimation Kalman filter and assisted Kalman filter.The deviation of the attitude estimation due to the rigid motion of the aircraft was compensated periodically by the assisted filter.Secondly,the navigation Kalman filter was established by importing the former attitude error estimation using the concept of the distributed Kalman filter,and the level of the navigation filter equation was effectively reduced and the high performance demand of the attitude estimation computer was not needed.Finally,the large error of the attitude estimation in dynamic states was reduced significantly,as demonstrated in simulation and flight test which indicates that AHPRS can enhance the precision of attitude and position estimation of the strapdown navigation system.更多还原