加速度计辅助模糊混合捷联姿态确定算法研究

Research on Accelerometer Aided Mixing Fuzzy Strapdown Attitude Determination Algorithm

利用模糊逻辑法判断载体运动状态、融合加速度计和捷联姿态解算结果,设计了基于模糊逻辑的加速度计辅助混合捷联姿态确定算法,跑车实验与高精度组合导航系统姿态输出相比,结果表明,该算法能有效抑制捷联姿态解算误差的积累,为低精度微惯性测量元件实现可靠的的姿态确定系统提供了技术解决途径。

According to the carrier＇s motion states judged with fuzzy logic, this paper provides an algorithm named mixing strapdown attitude determination aided with accelerometers. The algorithm fuses the attitude results from accelerometers with the strapdown attitude determination results. Compared with high precision integrated navigation system attitude outputs, the racing car experiment shows the algorithm can restrain the accumulated error of strapdown attitude determination, which provides solutions for the low precise micro inertial measurement units to realize the robust attitude determination system.