中文摘要：

针对捷联式姿态确定系统误差随时间积累的缺点,设计了一种由MEMS陀螺、加速度计及微磁强计组合的姿态确定系统。采用Allan方差方法分析了陀螺随机误差,通过建立姿态误差四元数微分方程和磁强计线性化测量方程,设计了姿态估计卡尔曼滤波器。系统采用实际测量值进行姿态解算,结果表明这种组合能够有效抑制传感器随机漂移引起的姿态误差,系统具有体积小、成本低、性能可靠等优点。

英文摘要：

An attitude determination system composed of MEMS gyroscopes, accelerometers and magnetometer is designed. The system can solve the problem of error accumulation in the strap-down attitude determination system. The stochastic errors of gyroscope are analyzed through Allan variance. Quaternion error differential equation and magnetometer linearized measurement equation are established, a Kalman filter is designed for attitude estimation. The attitude is calculated with practical sensors＇ output. The experimental results indicate that this combination could effectively restrain attitude error arising from the random drift of sensor. The system has the characteristics of small size, low cost, and good reliability.