A Method of Attitude Positioning Error Correction Based on Mems Inertial Measurement Unit
An inertial measurement unit and positioning error technology, applied in the field of inertial navigation, can solve problems such as the inability to use external information sources, achieve the effect of improving attitude positioning accuracy and reducing movement attitude positioning errors
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[0043] The present invention will be described in more detail below in conjunction with the accompanying drawings and embodiments.
[0044] figure 1 A flow chart of a MEMS inertial measurement unit-based attitude positioning error correction method provided by the present invention is illustrated. The method includes the following steps:
[0045] 1) Define γ as the roll angle, θ as the pitch angle, and ψ as the heading angle, and establish a navigation coordinate system fixed on the ground at the initial position of the carrier motion o n -x n the y n z n ;Establish the IMU coordinate system o on the MEMS IMU b -x b the y b z b ; Set the navigation coordinate system o n -x n the y n z n z around itself n Rotate the axis by -ψ angle to get the coordinate system o-x 3 the y 3 z 3 , set the coordinate system o-x 3 the y 3 z 3 around itself x 3 Rotate the axis by θ angle to get the coordinate system o-x 2 the y 2 z 2 , set the coordinate system o-x 2 the y ...
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