Attitude estimation method for micro attitude estimation system based on FD

The attitude of carrier with the tri-accelerometers and the tri-gyros respectively in a micro inertial measurement unit (MIMU) was estimated. Meanwhile, a strapdown inertial navigation system (SINS) was constructed and a Kalman filter was adopted to estimate attitude error derived from the attitude error equation. The remnants and the statistics were constructed to separate motion state of the carrier by fault detection (FD) method based on state remnant detection and to judge if the attitude estimated by accelerometers was credible. Data fusion method was adopted to fuse the attitude estimated by accelerometers and gyros respectively. So the dynamic performance of the attitude estimation system is guaranteed, and the precision of the attitude estimation is improved. Because micro electro mechanical system (MEMS) inertial components are adopted, the attitude estimation system is small, light, low cost, and suit to micro carriers especially.