Underwater unmanned submersible vehicle attitude measurement method based on CCKF

The invention provides an underwater unmanned submersible vehicle attitude measurement method based on CCKF. The method comprises the specific steps: fixedly installing strapdown inertial navigation equipment and a magnetometer on a UUV, and carrying out equipment debugging and time calibration; setting a state equation of a UUV combined attitude measurement system; setting a measurement equation of the UUV combined attitude measurement system; according to a time updating step of constrained volume Kalman filtering, completing time updating of an attitude measurement filtering algorithm based on the state equation and the three-dimensional angular velocity measured by the strapdown inertial navigation equipment; on the basis of time updating, completing measurement updating of an attitude measurement filtering algorithm according to three-dimensional attitude information output by a system measurement side, the strapdown inertial navigation equipment and the magnetometer; and calculating three attitude angle