Method for improving resolving precision and anti-jamming capability of attitude heading reference system

Abstract

The invention discloses a method for improving resolving precision and anti-jamming capability of an attitude heading reference system. The attitude heading reference system mainly comprises a micro mechanical gyro, a micro mechanical accelerometer and a geomagnetic sensor, and is used for measuring attitude information of a movement carrier in real time. The method specifically comprises the following steps of: firstly, initializing the system according to output of the accelerometer and the geomagnetic sensor for completing a coarse alignment process; secondly, according to output of the gyro, determining an updating equation of a quaternion, calculating a quaternion of an updating system in real time, and realizing an updating process of the system; thirdly, with the output of the accelerometer and the geomagnetic sensor as the reference, realizing a correction process of the system by applying a kalman filtering technology; and fourthly, by combining with a fuzzy control theory, adding a fuzzy control module in the system, estimating the measurement noise of the system in real time, and realizing self-adaptive kalman filtration. According to the invention, the calculating complexity of the system is greatly lowered while the precision of the attitude heading reference system is improved; and especially, when the system is interfered by larger noise, the method can be used for rightly estimating and measuring the characteristic of the noise, thereby improving the attitude precision and enhancing the stability and reliability of the system.

Description

technical field [0001] The invention relates to a method for improving the calculation accuracy and the anti-jamming ability of the attitude reference system based on the fuzzy control self-adaptive Kalman filter algorithm. technical background [0002] Attitude and Heading Reference System (AHRS) is mainly composed of micromachined gyroscopes, micromachined accelerometers and geomagnetic sensors, which are used to measure the attitude information of moving carriers in real time. The attitude reference system relies on inertial components for measurement, and does not need to emit or receive electromagnetic waves. It can completely determine the attitude information of the carrier, so it has good concealment and is widely used in military applications, such as: unmanned aircraft, navigation And guidance, aerospace, etc.; at the same time, because the attitude reference system uses micro-mechanical devices, the system has high integration, small size, and low cost, so it also...

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Problems solved by technology

At present, the adaptive kalman filter algorithm based on fuzzy control has been widely used in GPS / INS integrated navigation system, but its application in AHRS is seldom, Qin Wei in the paper "Fuzzy Adaptive Extended Kalman Filter for Miniature Attitude and HeadingReference System "Although this algorithm is applied to the heading and attitude reference system, it uses the extended kalman filter and simultaneously adjusts the system noise and measurement noise in real time, which undoubtedly greatly increases the computational complexity of the system and seriously affects the performance of the system. real-time

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