Research On Compound Attitude Measurement Method Of Single Antenna Satellite Receiving System And Micro Inertial Component

Attitude determination in the guided shells, unmanned aerial vehicles, robots have a wide range of applications, the method of determinating carrier attitude information using multiple/single antenna satellite receiving systems or inertial navigation systems INS has been quite mature. Satellite navigation system can provide users with accurate navigation parameters around the clock continuously, but its dynamic response is poor,the signal susceptible to interference. Inertial navigation system is an autonomous navigation system, anti-interference ability, can provide most of the navigation parameters for the carrier with short-term high precision. However, its error accumulates over time. Compared with the traditional inertial navigation system,MEMS inertial components are more smaller and lighter. Therefore, the single antenna satellite receiving system and the micro inertia module could be combined to determinate attitude.This papers focus on the research of Micro high-speed rotating guided-projectile shells and take the multi-attitude measurement system of the single antenna satellite receiving system and the micro inertial module as the research object. And the data fusion problem in the complex attitude determination system is studied.In this paper, the principle of attitude measurement of satellite navigation system and inertial navigation is studied deeply. The updating algorithm of traditional attitude matrix is deduced in detail, and the theoretical analysis of attitude solving is completed.Aiming at the problem that the anti-jamming ability of traditional Kalman filter to system noise and measurement noise is poor, an intelligent Kalman filtering algorithm IKF is designed in this paper. A data fusion algorithm based on intelligent Kalman filter is proposed to fuse the output data of the satellite navigation system and micro-inertial sensors effectively for achieving high-precision dynamic attitude of the lower body solution.Finally, according to the Self-developed navigation prototype by the laboratory, the multi-position attitude algorithm is applied to carry out several vehicle experiments,which validates the validity of the proposed algorithm.