Abstract:

Aiming at the problems of poor stability and short precision in traditional attitude estimation algorithms, a method based on multi-sensor information fusion was proposed. The quaternion was used to calculate the attitude changes, and deviations between measurements and observations from the Inertial Measurement Unit(IMU) were managed by PI regulator. The complementary filtering was adopted for multi-sensor information fusion, and the realtime attitude was got. Experimental results showed that the algorithm could output the high precision attitude steadily.

Key words: attitude estimation, multi-sensor information fusion, quaternion, complementary filtering, PI regulation