针对弹箭姿态测量中低精度陀螺姿态解算误差因漂移迅速增大的问题,文中采用三轴磁强计和陀螺组合测姿方案,对姿态角的输出进行修正。通过建立基于陀螺姿态解算误差角的状态方程和磁强计输出的误差观测方程,采用自适应卡尔曼滤波方法以抑制滤波发散并对姿态误差角进行估计。仿真结果表明:该方法能有效利用磁强计的输出抑制了陀螺漂移带来的误差,提高解算精度,满足长时间姿态测量的要求。

As for attitude measurement of missiles, low-precision gyroscope can not get satisfactory accuracy. For this reason, an integrated attitude measurement method was used to correct output of attitude angle, the state equation of attitude error angle and the error observation linear equations that based on the outputs of three-axis magnetometer were built, an adaptive filtering method was used to estimate error angle optimally and correct the output of attitude angle. The simulation results show that this method suppresses the error caused by gyroscope drift effectively by using the output of magnetometer and improves the accuracy of the attitude solver, satisfying the requirement of longtime attitude measurement.