A Solution Improves the Accuracy in Determining Orientation Parameters for the Carrier Device
摘要
This paper presents a method of applying an extended nonlinear Kalman filter to combine measured information from angular rate gyroscopes with magnetometers and accelerometers and satellite positioning information to estimate Rodrig - Hamilton parameters. Based on it, the authors calculate the orientation angle between the coordinate system attached to the carrying device and the navigation coordinate system. In addition, the article also presents a method to improve the performance of the integrated global positioning system and inertial navigation system (GPS/INS) during GPS downtime, a new combined algorithm is proposed to provide virtual position information to support an integrated positioning system.