New solution to the motion acceleration disturbance in MEMS-based attitude and heading reference system

The attitude and heading reference system based on microinertial measurement unit is becoming increasingly important in the fields of vehicle navigation, autonomous underwater vehicles, and unmanned aircraft systems. However, motion acceleration disturbance always affects attitude fusion, thereby making the study of compensation method for attitude fusion in motion important. In this work, two independent extended Kalman filters with clear structure and easy control are used to calculate attitude fusion. The linear process of the measurement equations in this structure is avoided and is more intuitive than the Euler-angle or Quaternion method. Subsequently, this work describes the motion convergence model for suppressing motion acceleration disturbance. This model is designed on the basis of gyro compensation and motion statistical analysis. First, the concrete structure of the model is introduced, and the feasibility of the scheme is analyzed. Second, the influence of small gradient acceleration on the model is elucidated. Finally, vehicle experimental results show that the model can effectively reduce motion acceleration disturbance and reflect the real attitude changes inside the vehicle body.