Volume 38, Number 1, February 2020
|Page(s)||1 - 5|
|Published online||12 May 2020|
Attitude Calculation Based on Sequential Correction of Gravity Field and Geomagnetic Field
School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China
Aiming at the problems of gyroscope error divergence and magnetometer susceptibility to soft magnetic environment in attitude calculation of unmanned system, a method of attitude calculation based on gravity field and geomagnetic field sequential correction is proposed. In this method, gyroscope output is used to construct the state equation of attitude quaternion, and then the quaternion is sequentially corrected twice by using accelerometer and magnetometer data in order to obtain accurate attitude output. The experimental results show that, compared with the three traditional attitude calculation algorithms, this algorithm can effectively suppress the gyroscope drift error and improve the attitude output accuracy under the environment of magnetic interference. The static accuracy of the attitude angle is not greater than that of the dynamic accuracy, which meets the application requirements of the unmanned system.
Key words: earth gravity field / geomagnetic field / sequential kalman filter algorithm / attitude calculation
关键字 : 地球重力场 / 地磁场 / 序贯卡尔曼滤波算法 / 姿态解算
© 2020 Journal of Northwestern Polytechnical University. All rights reserved.
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