中文摘要：

惯性导航系统姿态误差主要是陀螺漂移引起的累积误差,特别是低价位的系统,其误差随时间快速增长。而地磁传感器与加速度计组合可用于计算载体姿态,在载体稳定状态时能达到高精度,且没有累积误差。因为地磁-加速度计姿态系统的有效性取决于载体状态,设计一个模糊专家系统确定载体当前状态,在不同状态下选择不同的姿态传感器,并用Kalman滤波来优化载体姿态并控制估计误差。仿真结果显示,该算法可有效消除惯导姿态随时间增长的累积误差。

英文摘要：

For low-cost inertial navigation system （INS）, the attitude error grows rapidly with time, which mainly comes from an unbound error of gyro. And the vehicle attitude could be accurately estimated by magnetometer- accelerator without time-accumulated errors. Because the attitude system based on magnetometer-accelerator is related to vehicle dynamics, a fuzzy expert system is designed to identify the vehicle’s motion, once the motion type of the vehicle is identified, the most suitable sensor can be used to improve attitude estimation and to control the estimation error with Kalman filter. The simulation results show that the proposed system can reduce the error growth.