Two-axis attitude dip angle measurement method
A measurement method and attitude technology, which is applied in the field of inertial navigation, can solve problems such as errors and poor dynamic response of attitude angles, and achieve the effects of ensuring measurement accuracy, stable performance, and low cost
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[0053] like figure 1 As shown, in this embodiment, a two-axis attitude inclination measurement method includes a Kalman filter attitude fusion algorithm for a two-axis gyroscope and a three-axis accelerometer. Estimation is carried out under quasi-static conditions, and the initial values of roll angle and pitch angle of attitude are estimated by using the three-dimensional spatial geometric model of the three-axis accelerometer, and are used as the state input of the Kalman filter. A systematic Kalman filter state equation and measurement equation containing 4 state vectors and 2 observation vectors are established. The method of the invention considers the zero offset of the two-axis inclination angle, which can avoid the introduction of deviation in the estimation of the attitude inclination angle; and establishes the Kalman filter system equation to ensure the inclination angle accuracy in the two-axis.
[0054] The first is the construction of the hardware platform. Th...
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