Method for improving static and dynamic comprehensive performance of inertia-geomagnetism combination

The invention provides a method for improving static and dynamic comprehensive performance of an inertia-geomagnetism combination based on a Kalman filter and a hidden Markov model. A new weighted and dynamic adjustment mechanism based on the Kalman and the hidden Markov model is introduced, so that the extension of a Kalman algorithm and a complementary filtering algorithm can be able to completely rely on a three-axis gyroscope to realize attitude calculation under a dynamic condition and be able to mainly rely on an accelerometer and a geomagnetic sensor to realize the attitude calculation under a static condition, the better dynamic performance and static performance are ensured, and the comprehensive performance of the inertia-geomagnetism combination is improved. 本发明提供种基于卡尔曼滤波器和隐马尔科夫模型的用于提高惯性-地磁组合综合性能的方法，引入种新的基于卡尔曼和隐马尔科夫模型的加权和动态调整机制，从而使得在动态条件下扩展卡尔曼算法和互补滤波算法能够完全依靠三轴陀螺仪实现姿态解算，而在静态条件下又能够主要依靠加速度计和地磁传感器实现姿态解算，保证了较好的动态性能和静态性能，从而提高惯性-地磁组合的综合性能。