Method and device of measuring attitude of moving object based on adaptive gain complementary filtering

The invention belongs to the technical field of inertial navigation and discloses a method and device of measuring attitude of a moving object based on adaptive gain complementary filtering. The method comprises: reading data of triaxial angular rate, triangular acceleration and triaxial magnetic fi...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: DING JIUHUI, LIU ZONGNAN
Format: Patent
Sprache:chi ; eng
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Beschreibung
Zusammenfassung:The invention belongs to the technical field of inertial navigation and discloses a method and device of measuring attitude of a moving object based on adaptive gain complementary filtering. The method comprises: reading data of triaxial angular rate, triangular acceleration and triaxial magnetic field intensity; giving attitude of the moving object relative to a north east down coordinate systemthrough a complementary filtering algorithm, and providing attitude information of the moving object along with angular movement of the moving object to control and analyze movement of the moving object. In static state, small gain has better filtering effect and is insensitive to shake of an accelerator; high gain may respond mistakenly to the shake of the accelerometer. In dynamic state, estimation results of the high gain are closer to the actual angle, and a curve is smooth and free of burs; estimation results of the small gain exhibit a slight attenuation at a great change part of the angular rate; residuals of t