【摘要】 利用基于微机电系统陀螺、加速度计和磁强计的MTi-IMU微惯性航姿系统,设计了一种确定航向和姿态的算法。该算法利用加速度计的输出判断载体的运动状态,当载体处于非加速运动状态时,利用磁强计和加速度计的输出计算姿态角,再利用卡尔曼滤波器校正姿态误差。采集MTi-IMU微惯性航姿系统输出的数据进行仿真。仿真结果证明了该姿态算法的有效性。更多还原

【Abstract】 This paper presents a heading and attitude algorithm based on MTi-IMU,which is composed of micro-electronic mechanical system(MEMS)gyroscopes,MEMS accelerometers and magnetometers.It uses the output data of accelerometers to judge the motion state of carrier,and calculates the attitude angles using the output of accelerometers and magnetometers,and then corrects the attitude errors with Kalman filtering.The algorithm is simulated using the output of MTi-IMU,showing that the algorithm is effective.更多还原