Gyro Denoising and Fusion Quaternion Attitude Estimation Based on Improved Least Squares

摘要

Attitude estimation can obtain the three-dimensional attitude information of the carrier, so it has its unique importance in navigation and positioning. In order to effectively improve the accuracy of pose estimation, the article mainly does two parts of work. First, the gyroscope is denoised using an improved least squares method to make the gyroscope output more accurate and smoother. Then use a quaternion filtering structure that combines an accelerometer with a gyroscope to improve attitude accuracy. Finally, the paper designs two parts of the experiment, which verify the noise reduction performance of the gyroscope and the accuracy of the attitude estimation. It can be seen from the experimental results that the method described in this paper can effectively reduce the influence of the constant drift of the gyroscope on the attitude estimation, making the attitude estimation convergence faster and the solution accuracy higher.