Complementary filtering attitude calculation method of navigation attitude reference system

• Main Authors: WANG YAKAI, GE LEI, MA RENDONG, WANG JIANZHENG, SHI LANFANG
• Format: Patent
• Language: Chinese; English
• Published: 18.08.2020
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to a complementary filtering attitude calculation method for a navigation attitude reference system, and the method comprises the steps: collecting gyroscope output, accelerationoutput and magnetometer output, and carrying out the normalization; carrying out horizontal alignment by utilizing the first group of accelerometer data, calculating a pitch angle theta, a roll anglegamma and an attitude conversion matrix from the system to a horizontal system, carrying out azimuth alignment by utilizing the first group of magnetometer data, calculating an initial course angle,and acquiring gyroscope output, acceleration output and magnetometer output data; calculating a gyroscope error by utilizing the acceleration and magnetometer output data, calculating a magnetic fieldintensity reference value of a local navigation system, and calculating a projection value fn of acceleration output on the navigation system; calculating an acceleration crossover result fX, calculating a magnetic vector cross