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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.
Design an attitude reference system based on MEMS gyroscope, accelerometer, magnetometer and GPS module.First, the attitude and heading reference system is mainly composed of attitude estimation Kalman filter and compensated Kalman filter, through compensation filter So as to make up for the estimation error of the attitude angle caused by the rigid body movement of the body. Secondly, by using the design idea of decentralized Kalman filter and using the estimated error attitude angle as the Kalman filter of the navigation system , Which effectively reduces the order of the navigation filtering equation and reduces the performance requirements of the attitude solving computer. Finally, the simulation and flight tests verify that the AHPRS effectively overcomes the large deviation of the attitude estimation of the system in the dynamic environment Shortcomings, improve the system’s attitude and speed position estimation accuracy.