Journal of Systems Engineering and Electronics ›› 2009, Vol. 31 ›› Issue (3): 625-628,637.

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Maneuvering acceleration assisted extended Kalman filter for attitude and heading reference system

GUO Peng-fei1, REN Zhang1, QIU Hai-tao2, YANG Yun-chun3   

  1. 1. School of Automation Science and Electrical Engineering, Beijing Univ. of Aeronautics &Astronautics, Beijing 100083, China;
    2. Academy of Information Technology, China Aerospace Science & Industry, Beijing 100037, China;
    3. NAV Technology Co., Ltd, Beijing 100029, China
  • Received:2008-01-04 Revised:2008-06-02 Online:2009-03-20 Published:2010-01-03

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Abstract: The low cost AHRS(attitude and heading reference system) commonly adopt 6-state EKF(extended Kalman filter) based on the gravity field and the magnetic field vector observations.When the carrier maneuvered with a long time,the model presented big errors and 6-state EKF could not get stable attitude accuracy.The maneuvering acceleration is described with current statistical model.A 9-state EKF is introduced with 9 states of three attitude errors,three-axis gyroscopes bias errors and three-axis maneuvering acceleration errors.The observations includ three-axis acceleration errors and three-axis magnetic filed errors of the earth.When AHRS rotates with acceleration centripetal of 0.6 g on the rotation table,the experimental results show that 9-state EKF could get stable estimation of three-axis maneuvering accelerations and the attitude accuracy is better than 1 degree.

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