Research On The Key Technologies Of Economic Strapdown Attitude Heading Reference System

The key technologies and engineering implementation problems of the economic integrated strapdown attitude heading reference system which is based on micro-machined gyroscope, micro-machined accelerometer, GPS and electric compass are further discussed in this paper, and necessary engineering experiments are carried out, which lays a foundation for the widely using of the technology.Sensor errors are the main factors which have influence on attitude algorithm accuracy. So the analysis and compensation to sensor error, as well as the sensor data processing are done in this paper. The modeling method of micro-machined gyroscope random drift error is mainly studied, and wavelet analysis theory is introduced into the micro-machined gyroscope random drift modeling, which increases the modeling accuracy. From the view of engineering utility, through the analysis and comparison of the existing strapdown attitude algorithm,we get that the quaternion forth order runge-kutta method is more suitable for practical application.As micro-gyroscope has large accumulated errors after long running, multi-sensor data fusion technology based on Kalman filter is adopted to correct the accumulated error, and the integrated attitude determination algorithm based on Kalman filter and the forth order runge-kutta method is put forward in this paper.The testing system of integrated strapdown attitude heading reference system is established, and the effectiveness and feasibility of the algorithms are verified through by static and dynamic experiment.