For meeting the demands of cost and size for micronavigation system, a combined attitude determination approach with\nsensor fusion algorithm and intelligent Kalman filter (IKF) on low cost Micro-Electro-Mechanical System (MEMS) gyroscope,\naccelerometer, and magnetometer and single antenna Global Positioning System (GPS) is proposed. The effective calibration\nmethod is performed to compensate the effect of errors in low cost MEMS Inertial Measurement Unit (IMU). The different\ncontrol strategies fusing the MEMS multisensors are designed. The yaw angle fusing gyroscope, accelerometer, and magnetometer\nalgorithm is estimated accurately under GPS failure and unavailable sideslip situations. For resolving robust control and characters\nof the uncertain noise statistics influence, the high gain scale of IKF is adjusted by fuzzy controller in the transition process and\nsteady state to achieve faster convergence and accurate estimation.The experiments comparing differentMEMS sensors and fusion\nalgorithms are implemented to verify the validity of the proposed approach
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