Carrier Dynamic Attitude Estimation Algorithm Based on MEMS Inertial Sensor

摘要

MEMS inertial device has low measurement accuracy and poor anti-interference ability. The error of MEMS sensor accumulates over time, which cannot meet the requirement of attitude measurement for a long time. Therefore, in order to improve the accuracy of the MEMS sensor attitude measurement system, this article uses accelerometers and gyroscopes as the basic devices to design an attitude resolution algorithm. By establishing the carrier attitude measurement model, the output of the accelerometer and gyroscope is used to design the Kalman filter. The algorithm updates the time by the accelerometer output and the angular velocity of the carrier, and updates the measured value by the angular velocity of the carrier itself. Experiments show that the algorithm can suppress the drift error of MEMS gyroscope, improve the robustness of MEMS attitude measurement system, and improve the system accuracy.