基于低成本陀螺和倾角仪的姿态估计

针对动中通测控系统中低成本陀螺和倾角仪的姿态估计和陀螺误差校正问题，提出一种利用UKF（Uncented Kalman Filter）滤波器对载体姿态角进行估计，然后利用互补滤波器对陀螺漂移进行估计的算法。该算法通过设计三维完全可观测UKF滤波方程和陀螺误差校正模型对姿态角和陀螺漂移分别进行估计，有效避免了利用卡尔曼滤波进行姿态估计和陀螺漂移误差估计时由于误差模型不准确而产生的发散问题，同时降低了滤波器维数。试验中姿态角估计误差在1°以内，x轴陀螺漂移估计误差为0.0148°/s，y轴陀螺漂移估计误差为0.0017°/s，试验结果表明该算法能有效提高姿态角估计和陀螺漂移估计的精度。

Attitude Estimation Based on Low Cost Gyro and Inclinometer

In the control system of SOTM(SatComs On-The-Move),low cost gyros and inclinometers are used to estimate attitude and the gyros' drift must be revised.A method is proposed in this paper.A fully observable three dimensional UKF(Uncented Kalman Filter) filter is used to estimate body attitude,and the acomplementary filter is used to estimate gyros' drift.The divergent problem is avoided and the dimension is reduced when a kalman filter is used to estimate attitude and gyros' drift.In the experiment,estimated ...