Attitude estimation method for micro attitude estimation system based on FD
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摘要: 分别利用微惯性测量单元(MIMU,Micro Inertial Measurement Unit)中的3个加速度计与3个陀螺仪对载体的姿态角进行估计,同时,搭建捷联惯性导航系统,建立姿态误差方程,使用卡尔曼滤波估计载体姿态误差角.构造残差及统计量,利用状态残差检验的故障检测方法,对载体的运动状态进行分离,判断加速度计估计出的姿态角的可用性,对姿态角进行融合.既保证了姿态估计系统的动态性能,又提高了估计精度.由于使用微电子机械系统(MEMS,Micro Electro Mechanical System)惯性器件,使得姿态估计系统的体积小、重量轻、造价低,特别适于微小型载体使用.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.
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Key words:
- attitude estimation /
- fault detection /
- Kalman filtering /
- SINS
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