中文摘要：

由于车辆姿态参数无法通过带有标准配置的传感器直接测量，提出1种车辆运动姿态参数实时测量方法。该方法通过在车辆上加装MARG传感器测量车辆运动角速率、直线加速度与地磁信息，并以四元数和角速率为系统状态模型，加速度计和磁强计测量值为系统观测模型，搭建扩展Kalman滤波器车辆姿态融合估计结构，实现车辆姿态观测信息的实时最优关联。实验结果表明，在不同车辆运行状态下，该方法可以实时测量车辆姿态信息，具有较小的姿态估计误差。

英文摘要：

Due to the vehicle motion attitude cannot be obtained directly by using the sensor with standard configuration, the atti- tude determination method of the vehicle motion was proposed. MARG sensor was used to measure the angular rate, geomagnetic and acceleration information. The acceleration vector and geomagnetic vector were used to build the observation model, and the quaternion and the angular rate vector were used to build the system state model. The optimal estimation fusion structure of the Extend Kalman Filter was built. Experimental results proved that the proposed method can measure and estimate the motion vehi- cle attitude in real-time with high measurement accuracy under different vehicle running states.