Research And Development Of Low-cost Attitude Heading Measurement System Of Vehicle

This paper further discusses the integrated attitude heading reference system with micromachining gyroscope, micromachining accelerometer, GPS and electric compass. Strapdown attitude algorithms and multiple sensor information fusion theories based on Kalman filter are applied successfully in the system, so that it is worth to be popularized widely for its economy and practicality.In the paper, a series of theories and technique problems are discussed and researched, and an essential engineering experiment system is developed.Firstly, the error mode of gyroscope's random drift is studied deeply and its AR error mode is established according to the measured data. Secondly, the Quaternion method and rotation vector algorithm are analyzed and simulated among all kinds of strapdown of attitude and heading algorithm. Finally, the technique which is multiple sensor information fusion based on Kalman filter is used to correct the gyroscope's accumulated error for long time running.The measurement experiment system is developed based on the done work. The preliminary testing results shows that the static measuring accuracy can be±0.5deg, the dynamic measuring accuracy can be±2deg, and it is an efficient approach to improve the performance of integrated system by the filter technique.