【摘 要】
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This paper presents a novel attitude algorithm with assistant of earths magnetic model,which is applicable to AHRS (Attitude and Heading Reference System).T
【机 构】
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Beihang University, Beijing, China
论文部分内容阅读
This paper presents a novel attitude algorithm with assistant of earths magnetic model,which is applicable to AHRS (Attitude and Heading Reference System).The majority of AHRS algorithms consider that the earths magnetic field have component in one horizontal axis and the vertical axis,which does not meet practical situation.This algorithm builds a relatively accurate model of the earths magnetic field on the basis of the IGRF (International Geomagnetic Reference Field) model.The algorithm can be used to estimate the orientation of users or devices.This paper use Extended Kalman filter to estimate the attitude and heading information,performance has been evaluated by the data obtained by trajectory generation.
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