Single unit GPS and the inertial data (acceleration and angular velocity) by the measurement mannered null vehicle in the vehicle

摘要

The vehicle (the portable) loading GPS and the gyro and the accelerating sensor, presumption acceleration (A^X, A^Y and A^Z) with observation acceleration (a^-_x, a^-_y, a^-_z) to seek, angular velocity of measurement (p^-, q^-, r^-) from roll angle ^-, pitch angle ^- and yaw angle ^- seek with the gyro, observation acceleration (a^-_x, a^-_y, a^-_z) with coordinate transformation matrix E with^-1 acceleration of terrestrial system of coordinates (A^-_X, A^-_Y, A^-_z)It seeks. Presumption acceleration (A^X, A^Y and A^Z) with observation acceleration (A^-_X, A^-_Y, A^-_z) presumption ballistic deflection ( A ^_X, A^Y and A^Z) as difference, =tan-1| A _YZ|/|A _YZ| =tan-1| A _XZ|/|A _XZ| =tan-1| A _XY|/|A _XY|With it does, seeking the polarity of , and presumption acceleration A _YZ and with the outer product of presumption ballistic deflection A _YZ and the like, it calculates each attitude angle the attitude angle error which considers polarity ( , and ) of making use, presumption roll angular = roll angle ^- and presumption pitch angular = pitch angle ^- and presumption yaw angular = yaw angle ^- with .