Attitude resolving method of angular acceleration sensor assisted gyroscope

The invention discloses an attitude resolving method of an angular acceleration sensor-assisted gyroscope, which utilizes data of the angular acceleration sensor to provide observation information to correct errors of the gyroscope and improve the precision of attitude resolving of the gyroscope. On the basis of original angular velocity data measured by a gyroscope, angular acceleration data directly measured by an angular acceleration sensor is introduced as observation information, and an information fusion method of the angular acceleration sensor and the gyroscope based on Kalman filtering is designed; according to the method, data characteristics of two inertial devices including an angular acceleration sensor and a gyroscope are considered, two different sensor data combination schemes are designed, the accuracy of angular velocity measurement is improved, and then the accuracy of carrier attitude calculation is improved. According to the method, only the angular acceleration sensor and the gyroscope n