IMU ATTITUDE CALCULATION METHOD BASED ON GRADIENT DESCENT ALGORITHM

Abstract

In view of the problem that the combination of gyroscope and accelerometer is used to obtain the carrier attitude information in the traditional attitude solving method, an attitude solving method of inertial measurement unit based on gradient descentalgorithm is proposed.This method uses a quaternion-based gradient descent algorithm to fuse sensor data, and obtains the attitude angle information of the carrier movement. The three-dimensional flight simulation system is used to collect experimental data and verify the stability and effectiveness of the algorithm. Compared with the traditional attitude calculation method, it is verified that this method has the characteristics of fast convergence.