Journal of Projectiles, Rockets, Missiles and Guidance >
Distributed IMU Based Relative Attitude Estimation Method
Received date: 2013-11-12
Online published: 2025-05-30
The flexure during flight adversely affects determination of relative attitude between aircraft's critical local frames. A relative attitude estimation method was presented based on information from distributed inertial measurement units(IMUs). Firstly, a differential equation of relative attitude matrix was derived so that a calculated relative attitude between distributed nodes was obtained. Then a fitted value of relative attitude was achieved with fit flexure shape of local area. By utilizing the calculated value and fitted value mentioned above and derived relative attitude error equation, a state-space model was given and a Kalman filter was used to estimate the error therefore. Simulation results indicate that when the gyroscopes' precision of distributed IMUs is 1º/h, relative attitude estimation accuracy reaches to 8. In this paper, a technical reference is illustrated to address accurate acquisition of relative attitude between nodes especially when the IMUs all are of low precision and statistical characteristics of flexure is unknown.
LIU Zhenbo , LI Sihai , WANG Jue , ZHANG Yachong . Distributed IMU Based Relative Attitude Estimation Method[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2014 , 34(5) : 21 -25 . DOI: 10.15892/j.cnki.djzdxb.2014.05.006
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