Implementation of micro-inertial measurement/GPS combinatorial attitude measurement system

摘要

The attitude information is one of the most importance for navigation or stabilization control. In this paper, a low cost and robust micro inertial measurement/GPS combinatorial attitude measurement system is implemented. The attitude is obtained with two-antenna GPS configuration combined with micro-inertial measurement unit. Based on the analysis of the fusion algorithm for attitude estimation, the filter model is constructed with error multiplicative quaternion. Furthermore, the UD decomposition is adopted to suppress the filter divergence. The experiment result shows that the design satisfies the precision requirements for unmanned aerial vehicles or other tactical applications.