An accelerometer aided mixing algorithm for strapdown attitude(roll, pitch) reference system

스트랩다운 비행자세(롤, 피치)측정장치의 가속도계 보조 혼합알고리즘

The purpose of this paper is to develop a more accurate attitude algorithm with low grade gyro output. The proposed algorithm estimates attitudes by combining accelerometer and gyro output. For performance improvement of the algorithm, a method of velocity compensation is proposed for a better attitude estimation which is calculated from the accelerometer output. Velocity compensation is done by using Kalman Filter to estimate another velocity component.