Method and system for flight attitude estimation based on mems sensor

Abstract

The invention discloses a flight attitude estimation method and system based on an MEMS sensor. The method comprises the steps: collecting the data of an accelerometer and a magnetometer and determining a carrier coordinate system; converting the carrier coordinate system into a ground coordinate system and solving an error; correcting the data outputted by the gyroscope by using the error; performing quaternion updating by using the corrected gyroscope data to obtain a new attitude angle; and performing Kalman filtering by using the new attitude angle to obtain a flight attitude estimation result. According to the flight attitude estimation method and system based on the MEMS sensor, the carrier coordinate system is calculated through the data of the accelerometer and the magnetometer andthen the error is solved, and the output of the gyroscope is corrected by using the error so that the output of the gyroscope is more accurate, the problem that the gyroscope generates the accumulated drift error is effectively solved, and the accuracy of the output result of the Kalman filter is improved; and quaternion is used in calculation so that the overall operation amount is reduced and the operation cost is reduced.

Description

technical field [0001] The present application relates to the technical field of aircraft attitude estimation, in particular to a MEMS sensor-based flight attitude estimation method and system. Background technique [0002] Flight attitude refers to the state of the three-axis of the aircraft relative to a reference line or a reference plane or a fixed coordinate system in the air. The aircraft has various flight attitudes when flying in the air, and the flight attitude determines the movement of the aircraft, which not only affects the flight height, but also affects the direction of the flight. The estimation of flight attitude plays a vital role in the flight process of the aircraft. By estimating the flight attitude, it can ensure the correct flight course of the aircraft and ensure flight safety. [0003] The MEMS sensor is the core device of the attitude heading reference system (AHRS) and the micro-inertial navigation system (Micro-INS). The traditional method of est...

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Problems solved by technology

[0003] The MEMS sensor is the core device of the attitude heading reference system (AHRS) and the micro-inertial navigation system (Micro-INS). The traditional method of estimating the flight attitude based on the MEMS sensor is to solve the accelerometer and gyroscope data in the MEMS sensor. Calculation and estimation, and Kalman filter iteration, this method usually has the following problems, (1) the gyroscope in the MEMS sensor will have accumulated errors after a long time of motion, this is because the device characteristics of the gyroscope cannot be eliminated, the accumulated error The drift will affect the output angle value and affect the accuracy of the Kalman filter system equation; (2) This method is generally applicable to steady-state motion scenes, including static mode and constant speed motion mode, and cannot be applied to actual scenes

In the complex motion mode, the error caused by the accumulated drift of the gyroscope is more obvious, and the output result is inaccurate

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