Based on the output information of the three-axis geomagnetic sensor and three-axis gyroscope, a mathematical model for measuring the flight attitude information of special aircraft is established, and the flight attitude of the special aircraft is calculated in real time. To improve the accuracy of calculating the flight attitude of the special aircraft, the model of the pitch and yaw angles based on the Unscented Kalman filter (UKF) is established by using the output expression of the gyroscope and geomagnetic sensor -axis, and then the pitch angle and yaw angle obtained by filtering are brought into the geomagnetic sensor to calculate the roll angle of special aircraft in real time. The simulation results show that compared with the direct calculation of the special aircraft flight attitude angle, the combination of a geomagnetic sensor and gyroscope is more accurate after UKF processing, which verifies the effectiveness and feasibility of the attitude calculation method, and improves the accuracy of flight attitude measurement for special aircraft.

中文翻译：

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基于UKF的地磁传感器/陀螺仪特种飞机姿态测量方法研究

基于三轴地磁传感器和三轴陀螺仪的输出信息，建立测量特种飞机飞行姿态信息的数学模型，实时计算特种飞机的飞行姿态。为提高特种飞机飞行姿态计算精度，利用陀螺仪和地磁传感器的输出表达式，建立了基于无迹卡尔曼滤波器（UKF）的俯仰角和偏航角模型——轴，然后将滤波得到的俯仰角和偏航角带入地磁传感器，实时计算出特种飞机的横滚角。仿真结果表明，与直接计算专用飞机飞行姿态角相比，地磁传感器与陀螺仪组合经过UKF处理后精度更高，验证了姿态计算方法的有效性和可行性，提高了姿态计算方法的准确性。特种飞机飞行姿态测量.