基于MEMS/GPS/地磁组合的弹体姿态解算

MEMS惯性器件由于具有自主性、连续性和隐蔽性等优点被广泛运用于载体的姿态解算中,但由于MEMS惯性器件的制作精度和误差积累等问题使得解算出的姿态信息并不准确.同时由于地磁传感器可以实现高精度的姿态测量,但不能独立解算出姿态信息.因此为了提高惯导姿态解算的精度,所以采用GPS、地磁辅助惯导进行姿态解算.设计的方案是在传统惯导姿态解算误差状态方程的基础上,将地磁和GPS解算的滚转、偏航和俯仰角与惯导解算出来的相应角的差值添加到传统惯导姿态解算误差状态方程中,以速度误差和滚转、偏航和俯仰角误差为量测值,估计出组合系统的姿态误差,并与惯导解算出的姿态误差进行对比,从而验证所提出的方法的可行性.

Missile attitude calculation based on MEMS/GPS/geomagnetic combination

Because the MEMS inertial devices with autonomy, continuity and concealment has been widely used in carrier attitude calculation, but because of the precision and error accumulation problem of MEMS inertial device makes the attitude information obtained is not accurate.At the same time, due to the magnetic sensor can achieve high-precision attitude measurement, but can not independently solve the attitude information.Therefore, in order to improve the accuracy of the inertial navigation attitude calculation, this paper uses GPS, geomagnetic aided inertial navigation.This design is based on traditional inertial guide attitude calculation error state equations on the geomagnetic and GPS solution for roll, pitch and yaw angle and IMU out the corresponding angle difference is added to the traditional inertial attitude calculation error equation of state, in turn, roll and yaw velocity error and the pitch angle error of the measured value, the estimated attitude error combination system, and compared with the INS error is calculated, in order to verify the feasibility of the proposed method in this paper.