Vehicle-mounted heading and attitude system error compensation method and system based on motion constraints

The invention relates to a vehicle-mounted heading and attitude system error compensation method and system based on motion constraints. The method comprises the following steps of establishing a system state equation of error compensation filtering based on an error model of an attitude and heading system,establishing a measurement equation of error compensation filtering based on a vehicle motion constraint condition,according to the system state equation and the measurement equation, determining an optimal estimation result of the attitude error of the mathematical platform of the attitudeand heading system,and performing error online compensation on the vehicle-mounted heading and attitude system according to the optimal estimation result. Thus, long-time high-precision attitude determination can be realized in various complex severe environments, especially in battlefield environments. 本发明涉及一种基于运动约束的车载航姿系统误差补偿方法及系统。该方法包括：基于航姿系统的误差模型，建立误差补偿滤波的系统状态方程；基于车辆运动约束条件，建立误差补偿滤波的量测方程；根据所述系统状态方程和所述量测方程，确定航姿系统数学平台姿态误