基于MEMS惯性传感器的微型姿态测量系统.PDF

第7卷第4期 纳米技术与精密工程 v01．7No．4 and 2009年7月 Precision NanotechnologyEnsnaring Ju]．2009 Micro AttitudeDeterminationBasedonMEMSInertialSensors System 2 ZHAI Xiao—hao Yu—ta01，WEIQiang2，WANG 2，ZHOU Zhao．ying Satellite (1．CASIC TechnologyCompanyLimited，Beijing100088，China； 2．State ofPrecisionMeasurementand KeyLaboratory Technology Instruments．Tsinghua 100084，China) University，Beijillg micro Abstract：Inthis attitudedeterminationwithanovelattitude paper，a system estimatingalgorithm used theaerialfieMis basedonlowcostMEMS MEMSrate among proposed inertial$ensors，including accelerometerandMEMS theattitude gyros，MEMS magnetometers．This paperpre∞nts estimatingalgo- rithmbasedontheerror theerror isselectedto the quaternion formulation，wherebyquaternion compose statevectorthatis ofMEMS rate ordertoestimatetheattitude updatedbyoutput gyros．In duringhish earth’S fieldandtheeffectiveof themotiondirection dynamicmaneuvers，themagnetic partg