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Evaluation of spatial orientation of the mobile object on measurements orthogonal accelerometer and magnetometer

Keywords:

А.D. Vinogradov – Dr.Sc. (Eng.), Professor, Chief Research Scientist, Military Air Academy named after professor N.E. Zhukovsky and Yu.A. Gagarin (Voronezh). E-mail: mvvad@mail.ru А.Yu. Vostrov – Designer, JSC «Concern «Sozvezdie» (Voronezh). E-mail: a.y.vostrov.1988@ mail.ru I.S. Dmitriev – Ph.D. (Eng.), Leading Research Scientist, JSC «Concern «Sozvezdie» (Voronezh). E-mail: dmiv@mail.ru


Deduce formula dependence covariance matrix of error of estimation angles of yaw, pitch and roll from covariance matrix of error of sensors measurement and in fact object orientation. The problem of estimation of orientation angles for the errorful measurement of accelerometer and magnetometer formulate just as statistical. Obtained expressions for Cramer-Rao lower border of covariance matrix of estimated errors of orientation angles. Synthesized maximum likelihood algorithm, which provides an asymptotic achievement of this border. Research the accuracy of estimating the orientation angles of Euler-Kolmogorov for mobile object by measurements of the accelerometer and magnetometer, using existent algorithm and algorithm of maximum likelihood.
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