采用三轴MEMS加速度计和角速率陀螺以及微型磁通门传感器,以ARM处理器为核心构建微型捷联航姿系统硬件平台,运用捷联惯性导航理论及状态扩增Kalman滤波算法,实现了载体航向、俯仰和倾斜角度的测量和误差控制.在三轴无磁转台进行了航姿角度测试,结果表明,该航姿系统具有较高的角度稳定性和准确度,同时体积小、成本低,具有很好的工程应用前景.%Utilizing 3-axes MEMS accelerometer and gyroscope as well as analog fluxgate magnetometer, an ARM embedded system is built to calculate yaw, pitch and roll angle of carrier. Inertial navigation algorithm and improved Kalman filter and appropriate compensation methods are employed to obtain results and reduce error. Experiments on 3-axes nonmagnetic turntable show that the attitude heading reference system ( AHRS) features high stability and high accuracy. Along with characteristics of low cost and small size, it has good application prospects in certain fields.
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