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�������պ����ѧѧ�� 2007, Vol. 33 Issue (03) :336-340    DOI:
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������, �ź�, ��ҫ��*
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Attitude estimation method for micro attitude estimation system based on FD
Zhao Shifeng, Zhang Hai, Fan Yaozu*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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ժҪ �ֱ�����΢���Բ�����Ԫ(MIMU,Micro Inertial Measurement Unit)�е�3�����ٶȼ���3�������Ƕ��������̬�ǽ��й���,ͬʱ,��������Ե���ϵͳ,������̬����,ʹ�ÿ������˲�����������̬����.����вͳ����,����״̬�в����Ĺ��ϼ�ⷽ��,��������˶�״̬���з���,�жϼ��ٶȼƹ��Ƴ�����̬�ǵĿ�����,����̬�ǽ����ں�.�ȱ�֤����̬����ϵͳ�Ķ�̬����,������˹��ƾ���.����ʹ��΢���ӻ�еϵͳ(MEMS,Micro Electro Mechanical System)��������,ʹ����̬����ϵͳ�����С�������ᡢ��۵�,�ر�����΢С������ʹ��.
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Abstract�� The attitude of carrier with the tri-accelerometers and the tri-gyros respectively in a micro inertial measurement unit(MIMU) was estimated. Meanwhile, a strapdown inertial navigation system (SINS) was constructed and a Kalman filter was adopted to estimate attitude error derived from the attitude error equation. The remnants and the statistics were constructed to separate motion state of the carrier by fault detection (FD) method based on state remnant detection and to judge if the attitude estimated by accelerometers was credible. Data fusion method was adopted to fuse the attitude estimated by accelerometers and gyros respectively. So the dynamic performance of the attitude estimation system is guaranteed, and the precision of the attitude estimation is improved. Because micro electro mechanical system(MEMS) inertial components are adopted, the attitude estimation system is small, light, low cost, and suit to micro carriers especially.
Keywords�� attitude estimation   fault detection   Kalman filtering   SINS     
Received 2006-04-07;
About author: ������(1979-),��,������ĵ������,��ʿ��,zhaoshifeng@asee.buaa.edu.cn.
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������, �ź�, ��ҫ��.����FD��΢С����̬ϵͳ����̬�����㷨[J]  �������պ����ѧѧ��, 2007,V33(03): 336-340
Zhao Shifeng, Zhang Hai, Fan Yaozu .Attitude estimation method for micro attitude estimation system based on FD[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(03): 336-340
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2007/V33/I03/336
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