Precision instrument measurement on an unstable platform is a difficult engineering problem, and the commonly used method is to compensate the instrument measurement results through platform attitude estimation. This paper derives a three-dimensional attitude estimation method based on inertial sensors including gyroscope and inclinometer. In order to deal with the inertial sensor noise, low-pass filter, Kalman filter, adaptive Kalman filter (AKF) and sliding window least squares (SWLS) are chosen to test the filtering performance from the frequency domain perspective. Practical filtering experiments indicate that AKF achieves the best filtering performance for gyroscope, while SWLS has the best filtering performance for inclinometer. Using AKF and SWLS to deal with inertial sensor outputs, the attitude estimation of the vehicle platform is realized. The proposed method is verified on vehicle-mounted electro-optical measurement equipment.

在不稳定的平台上进行精密仪器测量是一个棘手的工程问题，常用的方法是通过平台姿态估计来补偿仪器测量结果。提出了一种基于陀螺仪和测斜仪的惯性传感器三维姿态估计方法。为了处理惯性传感器噪声，选择了低通滤波器，卡尔曼滤波器，自适应卡尔曼滤波器（AKF）和滑动窗最小二乘法（SWLS）从频域角度测试了滤波性能。实际的滤波实验表明，AKF对于陀螺仪具有最佳的滤波性能，而SWLS对于倾斜仪具有最佳的滤波性能。使用AKF和SWLS处理惯性传感器输出，实现了车辆平台的姿态估计。车载光电测量设备对所提方法进行了验证。