中文摘要：

针对载体线加速度存在的动态条件下,加速度计已不能完全描述重力场信息,提出最速下降法处理地磁与加速度计数据,来减小测量的误差,并引入无迹卡尔曼（UKF）滤波融合陀螺仪信息,抑制微机械陀螺仪漂移,加入飞行状态判别条件一定程度上规避加速度计动态测量精度差的问题。实验结果表明,算法有效地融合了陀螺仪较好的动态性能以及加速度计与地磁的静态性能,避免了由于线加速度存在,姿态解算产生的误差,改善了系统的整体性能。

英文摘要：

Under the dynamic condition of vehicle linear acceleration existence,accelerometer can no longer fully describe the information of gravity field information. In light of this,we present the steepest descent method to deal with the geomagnetic and accelerometer data to reduce measurement errors,and introduce the unscented Kalman filtering（ UKF） filter to integrate gyroscope information in order to restrain the drift of micromechanical gyroscope. The adjunction of flight status criterion evades to certain extent the problem of accelerometer in dynamic measurement accuracy difference. Experimental result demonstrates that the algorithm effectively integrates the good dynamic performance of gyroscope with the good static performance of accelerometer and geomagnetism,avoids the errors led by the existence of linear acceleration and attitude calculation,and improves overall system performance.