关键词: 捷联惯性导航系统, 组合导航, 无色卡尔曼滤波, 微机电系统, GPS, 磁强计, QR分解

Abstract: In order to achieve better precision and meet the reliability requirements of small unmanned air vehicle (UAV) navigation systems, this article presents an initial attitude determination method of strapdown inertial navigation system based on a micro electromechanical system (MEMS-SINS)/global positioning system (GPS)/magnetometer integrated navigation system. And the models of quaternion error and the orthogonal-triangular (QR) decomposition of unscented Kalman filter (QR-UKF) are used for data fusion of the MEMS-SINS/GPS/magnetometer integrated navigation system. Autonomous flight test results of small UAVs show that the MEMS-SINS/GPS/magnetometer integrated navigation system not only provides continuous and reliable navigation solutions to the guidance and flight control loop, but also has guarantees positive semi-definiteness of the state covariance.

Key words: strapdown inertial navigation system, integrated navigation, unscented Kalman filtering, MEMS, GPS, magnetometers, QR decomposition