The invention discloses an attitude heading measurement
system and a fusion method thereof, and a storage medium. The fusion method comprises the following steps of acquiring real attitude angles psi,gamma and theta of a car body by weighting of a three-antenna GNSS (Global Navigation
Satellite System) and an
accelerometer, wherein psi is a heading angle of the car body, gamma is a roll angle ofthe car body and theta is a
pitch angle of the car body; acquiring zero offsets deltabx, deltaby, deltabz of a
gyroscope; and performing fusion
processing on the attitude angles psi, gamma and theta of the car body acquired by weighting of the three-antenna GNSS and the
accelerometer and the zero offsets deltabx, deltaby, deltabz of the
gyroscope through a Kalman filtering model to obtain an
optimal estimation value of the attitude angles of the car body. According to the attitude heading measurement
system and the fusion method thereof, and the storage medium, a weighted observation is performed on an output angle of the
gyroscope by using the angles output by the
accelerometer and a three-antenna GNSS
receiver; the angles are fused on the basis of a Kalman
filtering theory; the
measurement precision is high; and the high requirement of the modern
agricultural machinery navigation on the precision of the attitude angle can be satisfied.