Research on Application of UKF Filtering in MEMS Sensor Attitude Measurement System

摘要

Aiming at the problem that the traditional attitude measurement cannot meet the requirements of small and unmanned aerial vehicles in industrial and civil areas in terms of weight, volume, and power consumption and so on, a UAV attitude measurement system based on MEMS accelerometer, gyroscope and magnetometer was proposed. The Euler angle method were used to combine the quaternion method for attitude solution, The three-axis attitude determination (TRAID) algorithm was used to construct the measurement model, and the data fusion was carried out by the unexplained Kalman filter (UKF) algorithm, so as to realize the accurate attitude measurement in static and dynamic. The experimental results showed that the system static error was less than 1°, and the dynamic error was less than 1.3°. The system had higher measurement accuracy and could meet the practical application requirements.