基于MEMS航姿参考系统的角度估计算法研究

Angle Estimation Algorithm Based on MEMS Attitude and Heading Reference System

为解决行人导航系统中,由于采用的基于微机械加工技术(MEMS)的惯性传感器精度较低,计算误差会随时间积累的问题,在基于微机电系统(MEMS)的航姿参考系统(AHRS)基础上,提出了一种动态过程修正算法,通过利用静止条件判断,进行角度校准,减少角度累积计算误差.在双轴转台进行实际测试结果表明,角度计算精度得到了提高.

In the Pedestrian Navigation System,the micro machining technology based on the inertial sensors（ MEMS） is lowprecision,calculation error will be accumulated over time. Based on MEMS Attitude and Heading Reference System,a dynamic process correction algorithm has been proposed,which could carry through the angle calibration and reduce the calculation error of angle by using static condition. The test results,which was realised on two-axis turntable,showthat the measurement precision of angle has been improved.