基于卡尔曼滤波器的航姿系统测姿算法研究

Attitude Algorithm Design of AHRS Based on Kalman Filter

航姿系统通常没有载体位置信息和速度信息的解算,且陀螺漂移较大,存在着载体持续机动时姿态精度不高,甚至消失的问题,因此通常的导航算法已不再适用。设计了一种基于卡尔曼滤波技术的姿态算法,用重力加速度在机体系的分量gb和陀螺漂移作为待估计的状态量,进行卡尔曼滤波的时间更新过程,利用加速度计的输出在一定条件下作为观测量,进行卡尔曼滤波的量测更新过程。仿真结果表明:此算法考虑了陀螺漂移,利用自身信息对机动状态进行了准确的判别,提高了航姿系统的姿态精度,且明显提高了长期机动时的动态精度。

AHRS does ＇ t calculate position and speed information of a gyro commonly at the same time.The drift of AHRS ＇ s gyros is rather big.When carrier maneuvers for a long time,the problem that attitude performance descends and even exhales will appear.Common navigation algorithms are no longer applicable.Kalman state Vector contains sensing components of the earth gravity in the body frame gb and gyros ＇ s drift,at the same time.By using the accelerometer information to carry out the measure of updating process.Simulation results show that attitude accuracy of the algorithm can satisfy the application demand in mobile and static status of the carrier.